导弹自动装填技术研究综述

Review of Missile Automatic Loading Technology

与传统装填方式不同,导弹自动装填技术是适应未来无人化作战平台的一种新型装填方式。介绍了国内外现有的导弹装填方式,分析了“推装”式自动装填与“视觉伺服机械臂+柔索并联吊具”装填方式的区别,重点对第二种导弹全自动装填技术进行了研究。结合基于改进路径规划算法的机械臂控制技术、实现导弹装填自对准的机器视觉技术、具备柔索并联式结构的柔性自适应对位技术提出了导弹全自动装填系统设计所需的关键技术。本研究可以为导弹自动装填及无人化智能作战提供新的思路。

Different from traditional missile loading method,the missile automatic loading technology is a new loading method that can meet the satisfaction of unmanned combat platform.This paper first introduces existing missile loading methods at home and abroad.The differences of“push-loading”and“vision servo manipulator plus flexible and parallel hoisting device”are also analyzed.The research of the latter one is mainly conducted.The manipulator control technology based on improved path planning,machine vision technology and flexibly adaptive adjustment technology are proposed,thus providing ideas for the research of missile automatic loading and unmanned smart combat.