Robotic conveyance of artillery projectiles for remote ammunition resupply operations

摘要

The U.S. Army's Project Manager, Advanced Field Artillery System/Future Armored Resupply Vehicle has given Oak Ridge National Laboratory the task of developing a robotic conveyance system which will provide automated artillery ammunition transfer. This technology is currently being developed and will be demonstrated in the summer of 1995. This paper describes the development of an ammunition transfer arm to date. The arm consists of three sections and 6 D.F. which will allow the Future Armored Resupply Vehicle to dock and mate with the Advanced Field Artillery System on terrain varying from (+-)10(degrees) in pitch, yaw, and roll and will allow for alignment of the fuel and propellant transfer ports. This arm will deliver the ammunition to the AFAS, where it will be received by an automatic handling and storage system inside the AFAS.