CAJ | 학술논문

高层建筑消防难题日渐凸显，悬吊于直升机上的高空消防机器人运行稳定性对气动消防炮的发射精度影响至关重要；针对悬吊式消防机器人的灭火炮发射精准度问题，研究了灭火弹在诸阻力及系统初始扰动作用下的力学机理，通过对炮管发射角度的调节，解决了灭火弹发射系统射击精度不高的问题。建立了灭火弹运行弹道及后效期内系统稳定性模型，算例的分析结果验证了系统方案的可行性，为机器人位姿调整系统参数的设定提供了理论依据。
고층건축소방난제일점철현，현조우직승궤상적고공소방궤기인운행은정성대기동소방포적발사정도영향지관중요；침대현조식소방궤기인적멸화포발사정준도문제，연구료멸화탄재제조력급계통초시우동작용하적역학궤리，통과대포관발사각도적조절，해결료멸화탄발사계통사격정도불고적문제。건립료멸화탄운행탄도급후효기내계통은정성모형，산례적분석결과험증료계통방안적가행성，위궤기인위자조정계통삼수적설정제공료이론의거。
The fire protection problems of high-rise building become increasingly highlighted.The operating stability of the fire-fighting robots which were suspended to the helicopter is essential for the shooting accuracy of the pneumatic fire monitor. In this paper, the mechanical mechanism of the fire-extinguisher cannon in conditions of different forces and initial disturb-ance of the system is analyzed to the question of shooting accuracy.The mechanism model of ballistic trajectory of the fire-ex-tinguisher cannon and the system stability during the aftereffect period is established.The results verify the feasibility of system solutions, and it provides a theoretical basis for the parameters setting of the robot posture adjustment system.