用铸造机械手系统发射穿甲弹

H. Arisumi, M. Otsuki, S. Nishida
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引用次数: 9

摘要

假设一个在月球上适当位置设置监测装置的空间任务,我们讨论了如何将投射操作应用于该任务。本文介绍了一种铸造机械手系统的工作原理和控制方法,使弹丸能够发射到预定位置。首先,我们讨论了发射方法,并重点介绍了一种利用吊杆旋转的方法。然后,我们提出了一种机制,该机制使装在弹臂尖端的穿甲弹在其旋转过程中保持绝对坐标系不变的姿态。这种装置可以防止连接穿甲器和机器人底座的电线缠绕吊臂。分析了弹丸释放延迟引起的着陆点位置误差,提出了通过动臂控制来减小误差的方法。最后,对系统进行了开发,并通过实验验证了所提方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Launching penetrator by casting manipulator system
Supposing a space mission of setting monitoring devices at suitable positions on the moon, we discuss how to apply a casting manipulation to the mission. This paper addresses a mechanism of a casting manipulator system and control method to launch a penetrator to the desired position. First, we discuss launching methods, and focus on a method by using rotation of a boom. We then propose the mechanism that keeps a posture of the penetrator equipped at the tip of the boom constant for the absolute coordinate system during its rotation. This mechanism prevents the wire which connects the penetrator and the robot's base from winding the boom. Analyzing a position error of landing point caused by delay of releasing the penetrator, we propose the motion control of the boom to reduce the error. Finally, we develop the system and verify the effectiveness of the proposed method through experiment.
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