某大口径自行炮选弹器系统运动学计算

THE KINEMATICS COUNTING OF SLECTING BOMBING EQUIPMENT SYSTEM OF A HEAVYCALIBER SELFPROPELLED GUN

通过对自动装填系统选弹器模型的简化，利用Ｄ－Ｈ描述法，建立了系统的运动方程，编制出了具有通用性的运动学软件系统．同时还利用爱尔米特插值法进行了运动轨迹规划，尝试了一种新的轨迹规划方法．

Using DenavitHartenberg description, the system motion equation is established with a simplifid model of Slecting Bombing Equipment of autoloader system. The general kinematics program system is worked out. At the same time, using Hermite interpolation, the motion trajectory is programmed. A new trajectory programming method is attempted.