Research on the Motion Characteristics of Extendable Gripper of Rotary Conveyor Mechanism in Naval Gun

doi:10.3969/j.issn.1000-1093.2020.05.006

Abstract

Abstract: In order to obtain the movement characteristics of rotary mechanism with grippers, the motion theory of extendable gripper of rotary mechanism is studied by simplifying the model, deducing the theoretical formula and analyzing the example. A simplified lever model of mechanism movement is obtained for rotary mechanism with grippers, and the kinematics of rotary mechanism is analyzed according to the change of lever configuration during the movement of extentable gripper, the transformation of multiple coordinate systems and closed vector method. A dynamic equation of extentable grippers of rotary mechanism is established by using force analysis, d'Alembert principle and Lagrange equation. A numerical example is analyzed by MATLAB and ADAMS virtual prototype simulation test based on the geometric parameters and driving parameters of rotary mechanism. Results show that the changes of the theoretical and simulated curves are basically consistent, and the configuration change affects the dynamic characteristics of rotary mechanism. The angular acceleration abruptly changes as the configuration changes, and the existence of eccentric pin can cause the motion track fluctuation but has little influence on the positioning error. In addition, the eccentric pin can cause acceleration shock while reducing acceleration mutation.Key

Key words: navalgun, rotarymechanism, gripper, projectilerotarymechanism, motioncharacteristic

CLC Number:

TJ391

PENG Jinghui, WANG Deshi, ZHANG Hongchao. Research on the Motion Characteristics of Extendable Gripper of Rotary Conveyor Mechanism in Naval Gun[J]. Acta Armamentarii, 2020, 41(5): 874-880.

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第41卷第5期2020 年5月
兵工学报ACTA ARMAMENTARII
Vol.41No.5May2020

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