摘要
枪口扰动是影响四足打击机器人射击精度的关键因素,但四足打击机器人的自由度多、非线性特征强,同时,武器射击时的后坐力呈现瞬时高冲击、作用时间短的特征,导致枪口扰动问题尤为显著。进行了四足打击机器人总体方案设计,基于质点力学模型建立了不同射击工况下系统扰动特性模型,并分析了扰动传递机理。构建了基于柔性足端的四足打击机器人刚柔耦合动力学仿真模型,研究了不同方向角(0°~30°)和高低角(-20°~30°)下三发点射时的枪口扰动规律、关节力矩特性及稳定性机制。研究结果表明:高低角射击时,后腿膝关节力矩峰值于-20°和-10°工况分别达193.88 N·m和185.73 N·m超出电机最大负载(180 N·m),存在动态失稳风险,足端最大离地间隙为1.8 mm(20°射角),建议限制极端射角(>10°或<-10°)连续射击;方向角射击时,后腿膝关节力矩偏差随角度增大,30°工况下左右侧峰值差达51.86 N·m,且枪口偏航方向位移增至0.76 mrad;后坐力冲击及足端与地面接触的柔性特征会引起足端高度振荡,显著降低射击精度与影响机身姿态稳定性。研究结果为四足打击机器人的设计与使用提供了理论依据。
Muzzle disturbance is a key factor affecting shooting accuracy of quadruped combat robots.However,quadruped combat robots have multi-DOF and strong nonlinear characteristics,meanwhile,recoil force during weapon shooting exhibits characteristics of instantaneous high impact and short action time to cause a particularly significant problem of muzzle disturbance.Here,the overall scheme design of a quadruped combat robot was performed,the system disturbance characteristics model under different shooting conditions was established based on the particle mechanics model,and the disturbance transmission mechanism was analyzed.A rigid-flexible coupled dynamic simulation model of a quadruped combat robot based on flexible foot ends was constructed,and muzzle disturbance law,joint torque characteristics and stability mechanism of 3-round of shootings under different azimuth angles of 0°-30°and elevation angles of-20°-30°were studied.The study results showed that during elevation angle shooting,peak torques of hind leg knee joint reach 193.88 N·m and 185.73 N·m under-20°and-10°working conditions,respectively to exceed the maximum load of motor of 180 N·m and have a risk of dynamic instability;the maximum foot end-ground clearance is 1.8 mm during 20°shooting angle,continuous shootings at extreme shooting angles of>10°or<-10°are suggested to be limited;during azimuth angle shooting,torque deviation of hind leg knee joint increases with increase in azimuth angle,peak difference between left and right sides reaches 51.86 N·m under 30°working condition,and muzzle yaw direction displacement increases up to 0.76 mrad;flexible features of recoil force impact and foot end-ground contact can cause foot end high oscillations to significantly reduce shooting accuracy and affect the stability of robot body posture.The study results can provide a theoretical basis for design and use of quadruped combat robots.
作者
赵建强
杨臻
刘朋展
王菁
赵雄飞
王勇
ZHAO Jianqiang;YANG Zhen;LIU Pengzhan;WANG Jing;ZHAO Xiongfei;WANG Yong(School of Mechanical and Electrical Engineering,North University of China,Taiyuan 030051,China;Chongqing Jialing Special Equipment Co.,Ltd.,Chongqing 400032,China;Chongqing Construction Industrial Group Co.,Ltd.,Chongqing 400054,China)
出处
《振动与冲击》
北大核心
2025年第23期29-39,55,共12页
Journal of Vibration and Shock
基金
山西省基础研究计划青年项目(202203021212161)
瞬态冲击技术重点实验室基金项目(JCKY2023209C003)。
关键词
四足打击机器人
发射动力学
刚柔耦合
柔性足端
枪口扰动
quadruped combat robot
launch dynamics
rigid-flexible coupling
flexible foot ends
muzzle disturbance
