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Dynamic Modeling and Analysis of Ammunition Loading Robot Based on Screw Theory

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Recent Developments in Intelligent Computing, Communication and Devices (ICCD 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1185))

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Abstract

Aiming at the characters of ammunition loading robot dynamic model which exists coupling and nonlinear, the method of establishing the ammunition loading robot dynamic model based on screw theory is put forward. Firstly, the kinetic energy screw, potential energy screw, and drive force screw of ammunition loading robot are established; then the mathematic model of inertia force, gravity, coriolis forces, and centrifugal force is determined; finally, the Lagrange dynamics equation of ammunition loading robot is founded based on screw theory. The simulations demonstrate the validity of the proposed method, and the method lays a solid foundation for the control strategy.

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Authors and Affiliations

  1. Department of Arms and Control, Army Academy of Armored Forces, 10072, Beijing, China

    Yang Li, Da Xu & Cheng Zhou

Authors
  1. Yang Li
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  2. Da Xu
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  3. Cheng Zhou
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Corresponding author

Correspondence to Yang Li .

Editor information

Editors and Affiliations

  1. Department of Supply Chain and Information Management (SCM), The Hang Seng University of Hong Kong (HSUHK), Shatin, New Territories, Hong Kong

    C. H. WU

  2. Department of Computer Science and Engineering, Faculty of Engineering and Technology, Siksha ‘O’ Anusandhan University, Bhubaneswar, Odisha, India

    Srikanta PATNAIK

  3. Information and Communication Engineering, Faculty Automatic Control and Computer Science, University of Oradea, Oradea, Romania

    Florin POPENTIU VLÃDICESCU

  4. School of Human Science and Environment, University of Hyogo, Himeji, Japan

    Kazumi NAKAMATSU

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© 2021 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Li, Y., Xu, D., Zhou, C. (2021). Dynamic Modeling and Analysis of Ammunition Loading Robot Based on Screw Theory. In: WU, C.H., PATNAIK, S., POPENTIU VLÃDICESCU, F., NAKAMATSU, K. (eds) Recent Developments in Intelligent Computing, Communication and Devices. ICCD 2019. Advances in Intelligent Systems and Computing, vol 1185. Springer, Singapore. https://doi.org/10.1007/978-981-15-5887-0_31

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