Chung-Cheng Institute of Technology, National Defense University, Tahsi, Taoyuan 335, Taiwan, ROC.
Vector from Vector from Vector from Unit vector of Tangent force of vehicle Normal force of vehicle Machine gun altitude Altitude of position Altitude of position Length of Maximum length of leg Minimum length of leg Normal vector of the moving platform Vector from Position vectors of muzzle Position vectors of butt base Vector from Rotation matrix Leg frame i=1,2,3,4,5,6 Vehicle body frame Moving platform frame Angle of ∠ Firing orientation angle Firing angle Turn over angle Pitch angle Roll angle Yaw angles
It is an important work to design a weapon manipulator to satisfy the tactical needs for the military unmanned ground vehicles (MUGV). In this work, the RRR and 6-SPS mechanisms are proposed to design a weapon manipulator. The design factors for the weapon manipulator to satisfy the tactical needs are also discussed. According to the direct and inverse position analysis methods, the workspace analysis results show that these two mechanisms have better performances in satisfying the tactical needs than the RR and RPR mechanisms. The gradability performance is also discussed to verify that the proposed mechanisms can achieve a good performance. The analysis results can provide a reference resource for designers to design a weapon manipulator for MUGV.
Military unmanned ground vehicles, MUGV, weapon manipulator, gradability performance
