论文部分内容阅读
针对弹药装填机器人作业过程复杂的问题,基于作业任务实用性和可操作性的要求,设计了一种作业平台仿真系统。在深入分析弹药装填机器人作业任务和工作过程的基础上,构建了总体设计方案,研究了仿真系统的稳定性技术,进行了运动控制、数据采集以及传感器精度等硬件部分设计和模块化技术的软件设计,建立了弹药装填机器人仿真系统。仿真结果表明:该设计能够实现对弹药装填机器人的控制和实时作业。
Aiming at the complex process of the operation of the ammunition filling robot, a platform simulation system is designed based on the practicality and operability of the task. Based on the analysis of the task and working process of the ammunition charging robot, the overall design scheme is constructed, the stability technology of the simulation system is researched, and the software of hardware design and modularization technology such as motion control, data acquisition and sensor accuracy are also carried out. Design and establish a simulation system of ammunition filling robot. The simulation results show that the design can realize the control and real-time operation of the ammunition loading robot.