Evaluation on Positioning Reliability and Sensitivity of the Ammunition Loading Manipulator’s Rotary Feeding Process based on Hybrid Importance Sampling Method

doi:10.12382/bgxb.2025.0270

Abstract

Abstract:

The primary function of the ammunition loading manipulator is to extract the projectiles from the magazine and transport them accurately and timely to the handover position of the ammunition coordinating arm.The positioning accuracy of the manipulator significantly impacts the entire ammunition supply process，and improving its reliability is of great importance to the overall automatic loading system.A parameterized co-simulation model that integrates electromechanical coupling is established a specific ammunition loading manipulator.The accuracy of the simulation model is validated using bench test data.A neural network surrogate model is developed to replace the complex dynamic simulation model，enabling the acquisition of response values after the manipulator reaches its target position.Finally，the reliability and sensitivity of the manipulator’s positioning accuracy are analyzed using a hybrid importance sampling method combined with the surrogate model.The results show that the positioning reliability of the manipulator is 0.9779 with high accuracy under the influence of the selected 12 parameters.The sensitivity analysis shows that the friction coefficient between gears has the greatest impact on positioning reliability，which points out the direction for subsequent structural optimization.

Key words: loading manipulator, electromechanical coupling, neural network, hybrid importance sampling, positioning reliability

CHEN Yijun, KONG Fancheng, LIU Yongji. Evaluation on Positioning Reliability and Sensitivity of the Ammunition Loading Manipulator’s Rotary Feeding Process based on Hybrid Importance Sampling Method[J]. Acta Armamentarii, 2025, 46(S1): 250270-.

Figures/Tables 10

References 22

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参数名称	参数符号	名义值	标准差
弹丸质量/kg	-6.58×10^-8	45.5	0.2
弹丸转动惯量/(kg·m²·s)	-1.7×10^-3	166502	1000
机械手质量/kg	-5.44×10^-4	37.01	0.2
机械手转动惯量/(kg·m²·s)	I_j	267380	2000
底盘质量/kg	8.63×10^-8	89.31	0.4
底盘转动惯量/(kg·m²·s)	-8.62×10^-9	3170600	20000
齿轮接触刚度/(N·m^-1)	-5.69×10^-7	753353	1000
齿轮接触阻尼/(N·s·m^-1)	-1.32×10^-6	753.35	10
齿轮摩擦系数	-3.00×10^-4	0.2	0.02
齿轮间隙/mm	1.97×10^-5	0.1	0.02
机械手沿6.22×10^-1轴初始位置/mm	8.61×10^-2	0	1
泊松比	-2.75×10^-2	0.3	0.009

参数名称	参数符号	名义值	标准差
弹丸质量/kg	-6.58×10^-8	45.5	0.2
弹丸转动惯量/(kg·m²·s)	-1.7×10^-3	166502	1000
机械手质量/kg	-5.44×10^-4	37.01	0.2
机械手转动惯量/(kg·m²·s)	I_j	267380	2000
底盘质量/kg	8.63×10^-8	89.31	0.4
底盘转动惯量/(kg·m²·s)	-8.62×10^-9	3170600	20000
齿轮接触刚度/(N·m^-1)	-5.69×10^-7	753353	1000
齿轮接触阻尼/(N·s·m^-1)	-1.32×10^-6	753.35	10
齿轮摩擦系数	-3.00×10^-4	0.2	0.02
齿轮间隙/mm	1.97×10^-5	0.1	0.02
机械手沿6.22×10^-1轴初始位置/mm	8.61×10^-2	0	1
泊松比	-2.75×10^-2	0.3	0.009

均值灵敏度	数值	标准差灵敏度	数值
弹丸质量	-8.1×10^-4	弹丸质量	2.07×10^-1
弹丸转动惯量	-3.83×10^-2	弹丸转动惯量	-2.29×10^-7
机械手质量	4.5×10^-3	机械手质量	1.99×10^-5
机械手转动惯量	6.56×10^-7	机械手转动惯量	-6.58×10^-8
底盘质量	-1.7×10^-3	底盘质量	-5.44×10^-4
底盘转动惯量	8.63×10^-8	底盘转动惯量	-8.62×10^-9
齿轮接触刚度	-5.69×10^-7	齿轮接触刚度	-1.32×10^-6
齿轮接触阻尼	-3.00×10^-4	齿轮接触阻尼	1.97×10^-5
齿轮摩擦系数	1.20	齿轮摩擦系数	6.22×10^-1
齿轮间隙	8.61×10^-2	齿轮间隙	-2.75×10^-2
机械手沿y轴初始位置	5.51×10^-4	机械手沿y轴初始位置	-8.1×10^-4
泊松比	2.07×10^-1	泊松比	-3.83×10^-2

均值灵敏度	数值	标准差灵敏度	数值
弹丸质量	-8.1×10^-4	弹丸质量	2.07×10^-1
弹丸转动惯量	-3.83×10^-2	弹丸转动惯量	-2.29×10^-7
机械手质量	4.5×10^-3	机械手质量	1.99×10^-5
机械手转动惯量	6.56×10^-7	机械手转动惯量	-6.58×10^-8
底盘质量	-1.7×10^-3	底盘质量	-5.44×10^-4
底盘转动惯量	8.63×10^-8	底盘转动惯量	-8.62×10^-9
齿轮接触刚度	-5.69×10^-7	齿轮接触刚度	-1.32×10^-6
齿轮接触阻尼	-3.00×10^-4	齿轮接触阻尼	1.97×10^-5
齿轮摩擦系数	1.20	齿轮摩擦系数	6.22×10^-1
齿轮间隙	8.61×10^-2	齿轮间隙	-2.75×10^-2
机械手沿y轴初始位置	5.51×10^-4	机械手沿y轴初始位置	-8.1×10^-4
泊松比	2.07×10^-1	泊松比	-3.83×10^-2