炮膛清洗机器人变径机构力学特性仿真分析

Simulation Analysis of Dynamics Characteristics of Gun Barrel-cleaning Robot’s Diameter Changing Mechanism

针对现有炮膛清洁效果不佳,清洁废液清除不彻底等问题,设计一款具有周式排射清洁液机构、负压吸尘机构和变径机构的炮膛自动清洗机器人机械系统。基于虚功原理对机构进行动力学分析,得出变径机构中弹簧的理论数据,建立力学模型,利用多体动力学仿真软件Adams进行仿真分析,验证其合理性。

In order to solve the problems of bad cleaning effect and uncompleted removing cleaning waste liquid,a mechanical system of a gun barrel automatic cleaning robot is designed,which consists of a circumferential cleaning liquid ejector,a negative pressure cleaning mechanism and a diameter changing mechanism.The mechanism is conducted dynamics analysis based on virtual principle,the theoretical data of the spring in diameter changing mechanism is obtained,and a mechanical model is established.Multi-body dynamics simulation software Adams is used to analyze and verify the rationality.