智能挂弹机器人结构设计与举升机构仿真分析

Structure design and lifting mechanism simulation analysis of intelligent loading robot

针对目前军用机场传统液压挂弹系统作业时间长、人力成本高、挂载精度低等问题,设计一种智能挂弹机器人以提高挂弹作业效率.首先,完成智能挂弹机器人的机械结构总体设计;其次,对智能挂弹机器人最关键的举升机构进行静力学和运动学分析,建立起举升机构力矩平衡方程和运动学方程;最后,通过机械系统动力学自动分析(automatic dynamic analysis of mechanical systems, ADAMS)仿真计算举升机构在作业过程中的推力变化和末端托盘速度变化情况.实验结果表明,所设计的举升机构性能达到了预期要求,同时仿真结果也可为智能挂弹机器人的举升电力系统设计和选型提供可靠的数据支持.

In view of the problems of long operation time,high labor cost and low loading accuracy of the traditional hydraulic loading system in military airports at present,an intelligent loading robot is designed to improve the efficiency of loading operation.Firstly,the overall design of the mechanical structure of the intelligent loading robot is completed.Secondly,the statics and kinematics analysis of the most critical lifting mechanism of the intelligent loading robot is carried out,and the moment balance equation and kinematics equation of the lifting mechanism are established.Finally,the thrust change of the lifting mechanism in the operation process and the speed change of the end tray are calculated by automatic dynamic analysis of mechanical systems(ADAMS)simulation.The analysis results show that the performance of the designed lifting mechanism meets the expected requirements.At the same time,the simulation results also provide reliable data support for the design and selection of the lifting power system of the intelligent loading robot.