Research on Body Tube Vibration Response of Small Combat Robots Motion

Abstract

As a hot topic in military research, small combat robots are always in a dynamic process when traveling, causing the body tube to vibrate which affects its firing accuracy. Different from the traditional two-degree-of-freedom combat robot, this paper establishes a rigid-flexible coupling dynamics model for the new three-degree-of-freedom combat robot to study the response characteristics of its body tube during travel. To accurately reflect the driving conditions of the mobile robot, a road surface unevenness model was established using the sine wave superposition method. The firing accuracy of a small combat robot can be affected by the speed and road conditions, as shown in numerous studies. The effects of arm structure, arm mounting position, and firing angle on the vibration response of the body tube are analyzed in this paper. The results show that a reference for improving the design of small combat robots can be found in a correlation between the structure, mounting position, and firing angle of the robotic arm, and the body tube’s vibration response.