Defence Science Journal

  • Year: 2008
  • Volume: 58
  • Issue: 5

Tactical Requirements Enforcing Ability Analysis of Different Weapon Manipulators for Military Unmanned Ground Vehicles

  • Author:
  • Tsung-Chien Chen, Yung-Lung Lee
  • Total Page Count: 14
  • DOI:
  • Page Number: 664 to 677

Chung-Cheng Institute of Technology, National Defense University, Tahsi, Taoyuan 335, Taiwan, ROC.

bi

Vector from OI to B1

D

Vector from OI to OP

di

Vector from BI to PI

ei

Unit vector of pIi

Ft

Tangent force of vehicle

Fn

Normal force of vehicle

h

Machine gun altitude

hPs

Altitude of position Ps

hQs

Altitude of position Qs

li

Length of i link

lmax

Maximum length of leg

lmim

Minimum length of leg

Np

Normal vector of the moving platform

Ppi

Vector from OP to PI

Ps

Position vectors of muzzle

Qs

Position vectors of butt base

qi

Vector from OI to PI

RPI

Rotation matrix

XBi,YBi,ZBi

Leg frame i=1,2,3,4,5,6

XI, YI, ZI

Vehicle body frame

XP, YP, ZP

Moving platform frame

θc

Angle of ∠OCnR

θr

Firing orientation angle

θp

Firing angle

θtr

Turn over angle

θ

Pitch angle

φ

Roll angle

Ψ

Yaw angles

Abstract

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.

Keywords

Military unmanned ground vehicles, MUGV, weapon manipulator, gradability performance