CAJ | 학술논문

针对通用垂直发射装置在执行发射任务时由于空间紧凑、环境恶劣等原因无法人工操作问题，提出了利用机械臂技术实现自主操作的方案，并对比分析了适用于狭小空间操作的机械臂控制方法，给出了发射装置领域机械臂系统设计的关键要素；根据目前发射装置需求，2~3自由度的机械臂可实现电缆脱插的插拔操作，其复杂操作能力为未来新型发射装置的优化设计提供了条件。
침대통용수직발사장치재집행발사임무시유우공간긴주、배경악렬등원인무법인공조작문제，제출료이용궤계비기술실현자주조작적방안，병대비분석료괄용우협소공간조작적궤계비공제방법，급출료발사장치영역궤계비계통설계적관건요소；근거목전발사장치수구，2~3자유도적궤계비가실현전람탈삽적삽발조작，기복잡조작능력위미래신형발사장치적우화설계제공료조건。
In order to solve the problem that operational tasks cannot be implemented by operational due to tight spaces and harsh environment reasons,the method of using robotics technology to realize independ-ently operation was proposed,and the manipulator control methods suitable for narrow space operation were comparatively analyzed,and the key elements of robotics system design in missile launching field were giv-en. According to the current demand for launching device,2 ~ 3 DOF manipulator can realize cable plugged and unplugged off,and its ability of complex operation provides conditions for optimization design of future launching device.