Investigation of the firing stability of a combat robot on an elastic foundation

This paper investigates the vibration of a combat robot-weapon system equipped with a small-caliber automatic weapon during firing, based on a physical and mathematical model developed using multibody system dynamics theory. The spatial model of the combat robot features six degrees of freedom (DOF), encompassing a controlled robot equipped with a 5.56 mm automatic rifle. The weapon dynamics, represented by the displacement of the base link, are analyzed simultaneously with the vibrations of the entire system. By applying numerical methods to solve the system of differential equations describing the vibrations induced by firing forces, while taking into account the elastic properties of the supporting ground, the dynamic response of the robot-weapon system was investigated. Experimental measurements of the robot's vibrations in the firing plane demonstrated excellent agreement with the theoretical simulations, confirming the validity of the proposed model. The proposed model enables the identification of the key parameters affecting the firing stability of the robot. The calculated results exhibit a reasonable degree of reliability, providing a scientific foundation for further research on system stability and weapon accuracy when integrated into a combat robot.