1. PLA Navy Submarine Academy, Qingdao 266199, China; 2. CAS Key Laboratory of FAST, National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100101, China
Abstract：A three-cable parallel robot was developed for naval missile systems for automatic transfer and loading of the missile with improved loading safety and efficiency. A two-step optimization method was used to completely consider the construction difficulties, weight and cost of the missile loading system with a global search optimization and a local search optimization. The global search considers all the search parameters to determine the tower height as the key design parameter. Then, a cantilever displacement formula is used to relate the cable tower height and diameter with a dimensionless optimization function for the cable force rate of change as a function of the tower height. An optimization function is then used to minimize the maximum cable force. This design optimization method is useful for designing naval automatic projectile loading systems.
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2021, Vol. 61 
