Influence of Certain Structural Parameters on the Firing Stability of the Robot-Weapon System on Elastic Ground

In this paper, a small-caliber automatic weapon mounted on a combat robot is chosen as the research subject to analyze firing stability. A dynamic model with six degrees of freedom is formulated based on Lagrange’s equation of the second kind and multi-body system theory, accounting for the elastic response of the ground. Recoil forces induced by firing, which excite the whole system, are determined experimentally for single shots and three-round short bursts. The study also examines the influence of certain representative structural parameters on the firing-induced vibrations of the complete mechanism. The obtained results provide a basis for assessing firing accuracy and contribute to the design, manufacture, and operational employment of this weapon system on the battlefield.