某自行火炮自动装填系统供弹机运动学分析

目的　对某自行火炮自动装填系统供弹机进行运动学分析． 方法　通过对供弹机系统进行模型简化， 利用机器人运动学与动力学理论， 建立系统的动力学方程． 结果　对系统进行了运动轨迹规划， 编制出具有通用性的运动学分析软件， 给出了供弹机各刚体的轨迹曲线， 对供弹机的运动学分析进行了新的探索．结论　结果表明： 自动装填系统供弹机部分运行平稳， 控制性能较好， 设计方案基本合理

The Kinematics Analysis of the Ammunition Supplying Mechanism in the Autoloading System of a Self-propelled Gun

Aim The kinematics analysis is processed to the ammunition supplying mechanism in the autoloader system of a self propelled gun.Methods Based on the model simplification of the ammunition supplying mechanism, with the theory about robot kinematics and dynamics, the kinematic equation is established. Results The moving locus is programmed. The general analyzing software about the kinematics is worked out. The locus of each rigid body in the ammunition supplying mechanism is provied. And the new kinematic research about the ammunition supplying mechanism is analyzed. Conclusion The results prove that the ammuition supplying mechanism moves steady and smoothly with good controlling performarce. The design project is reasonable.