柔索并联式导弹自动抓取装置动力学仿真

针对导弹质量大、作业环境复杂等形成的难以自动装填问题,融合钢丝绳柔性浮动对位原理,对柔索并联式导弹自动抓取装置进行动态特性分析。基于有限段离散建模方法,对该抓取装置钢丝绳进行柔性体建模,进而建立了该抓取装置的多体动力学模型。通过仿真计算,分析了抓取装置和导弹模块,在处于不同的对位姿态时,钢丝绳柔性和结构接触耦合作用下,抓取装置下放-抓弹-吊弹过程中的运动和受力特性,验证了引入钢丝绳柔性环节的抓取装置方案,针对对位时姿态偏差的自适应调整能力,为该导弹自动装填系统设计提供了参考。

Dynamic Simulation of Flexible Wirerope-Driven Parallel Missile Automatic Gripping Device

In view of the difficulty in automatic loading missile due to its large mass and complicated working environment, based on the floating alignment principle together with the flexibility of wirerope, the dynamic characteristics of the flexible wirerope-driven parallel missile automatic gripping device are analyzed. Based on the finite-discrete segment modeling method, the flexible body of the gripping device is modeled, and the multi-body dynamic model of the gripping device is established. By simulating calculation, the motion and force characteristics of the gripping device under the actions of the flexibility and the structure contact coupling of the wirerope during the process of lowering-gripping-lifting are analyzed, and the adaptive adjustment ability of the grasping device scheme, in which the flexible link of wirerope is introduced, for the attitude deviation in alignment is verified. This provides a reference for the design of the missile automatic loading system.