Vibration of a small-caliber weapon system mounted on a combat robot during firing

This paper focuses on the vibration behavior of a mechanical system consisting of a combat robot and a small-caliber automatic weapon during firing. The study utilizes the theory of multi-body mechanical systems to develop a dynamic model. The combat robot in the model has seven degrees of freedom and is composed of four rigid bodies. The firing force from the weapon causes vibration throughout the system. The magnitude of this force is determined through experiment for two firing modes: single shot and short burst, using a force sensor operating on the principle of elastic strain-gauge measurement. Dynamic simulations are then conducted using numerical methods, taking into account elastic deformation in both the elevation and azimuth mechanisms. The model is applied to a wheeled combat robot equipped with an AKM submachine gun, which is connected to the robot through a directional control unit and a spring-based recoil buffer mechanism. The results of this study provide a scientific basis for analyzing the firing stability and accuracy of weapon systems mounted on combat robots, as well as for improving and optimizing the structural design of small-caliber automatic weapons for robotic applications.