Design and research of the ground robotic system structure for weapons remote control

Abstract

During hostilities, ground robotic systems play an important role in minimizing losses of servicemen and suspending the combat capabilities of troops. For firing, robotic complexes are equipped with gun turrets. Researchers are conducting research to improve the performance, reliability and firing accuracy of such turrets. This work describes the design and research of an experimental sample of a ground robotic system, which is equipped with a turret for controlling the position of a machine gun. The description and results of experimental studies of dynamic loads during robot movement at different speeds and road conditions are presented. It was established that the values of the maximum accelerations that must be worked out by the stabilization system during operation for the experimental design of the robot do not exceed 20 rad/s2. The possibility of using counterweights was considered to reduce the torque of the turret guidance drive while reducing the dimensions of the robotic system structure. The description of the experimental module equipped with a control and measurement system and the results of experimental studies on determining the power of the turret drives during the manipulation of the structure are presented. A procedure of dynamic analysis and the results of modeling the movement of the gun turret in the ANSYS software package are presented. The proposed method for designing the structure ensures the determination of the impact on the structure of the complex shape of loads caused by its manipulation, to compensate for the exciting loads when the robotic system is moved over the terrain. With the help of this method, it is possible to determine and minimize the power, and therefore the energy consumption, of azimuth and lifting electric drives at the design stage