Because of a clearance between a barrel supporting member and a barrel, a rotational movement of the barrel is not always constant. Thus, trajectory of a bullet is misaligned. A counterweight 40 is located upper than a barrel 10, and rings 61, 62, which are support portions, are located nearer to the counterweight 40 than a gravity center of the barrel 10. Since the barrel 10 is located lower than the counterweight 40 and engaged with a lower surface side of a gear 30, when a bullet is shot and the barrel 10 is moved backward, a force to rotate the barrel 10 itself clockwise is imparted by a circular surface shape of the gear 30. The barrel 10 receives a force to be rotated clockwise from the gravity center position, the ring 61 and the ring 62, and the barrel 10 is in contact with the inner surface of the barrel supporting member 50. Thus, in spite of the existence of the clearance, the barrel 10 is not displaced in the barrel supporting member 50.

Because of a clearance between a barrel supporting member and a barrel, a rotational movement of the barrel is not always constant. Thus, trajectory of a bullet is misaligned. A counterweight 40 is located upper than a barrel 10, and rings 61, 62, which are support portions, are located nearer to the counterweight 40 than a gravity center of the barrel 10. Since the barrel 10 is located lower than the counterweight 40 and engaged with a lower surface side of a gear 30, when a bullet is shot and the barrel 10 is moved backward, a force to rotate the barrel 10 itself clockwise is imparted by a circular surface shape of the gear 30. The barrel 10 receives a force to be rotated clockwise from the gravity center position, the ring 61 and the ring 62, and the barrel 10 is in contact with the inner surface of the barrel supporting member 50. Thus, in spite of the existence of the clearance, the barrel 10 is not displaced in the barrel supporting member 50.

A shock absorbing disruptor mounting system for a robotic arm includes a rack comprised of a linear guide structure and a carriage which is configured to travel on the linear guide structure. The carriage is selectively movable between a retracted position and an extended position and includes a plurality of wheels along its length. Each of the wheels has a wheel axis of rotation which is transverse to the direction of the linear guide structure centerline to facilitate rotation of the wheels on at least a portion of the linear guide structure responsive to the travel.

One embodiment of a gun configured with the soft recoil system comprises a plurality of recoiling parts that initially moves in the direction of the projectile being fired before moving in a direction opposite to that of a projectile during the firing of the round. The soft recoil system throttles the movement of the recoiling parts such that the energy expended during the firing of the round is spread over a longer time period and a longer distance than would normally occur. The soft recoil system stores at least a portion of the energy transferred to the recoiling parts and the user may selectively release at least a part of that portion of energy to offset the energy imparted to the gun during the firing of the next round.

Because of a clearance between a barrel supporting member and a barrel, a rotational movement of the barrel is not always constant. Thus, trajectory of a bullet is misaligned. A counterweight 40 is located upper than a barrel 10, and rings 61, 62, which are support portions, are located nearer to the counterweight 40 than a gravity center of the barrel 10. Since the barrel 10 is located lower than the counterweight 40 and engaged with a lower surface side of a gear 30, when a bullet is shot and the barrel 10 is moved backward, a force to rotate the barrel 10 itself clockwise is imparted by a circular surface shape of the gear 30. The barrel 10 receives a force to be rotated clockwise from the gravity center position, the ring 61 and the ring 62, and the barrel 10 is in contact with the inner surface of the barrel supporting member 50. Thus, in spite of the existence of the clearance, the barrel 10 is not displaced in the barrel supporting member 50.

Because of a clearance between a barrel supporting member and a barrel, a rotational movement of the barrel is not always constant. Thus, trajectory of a bullet is misaligned. A counterweight 40 is located upper than a barrel 10, and rings 61, 62, which are support portions, are located nearer to the counterweight 40 than a gravity center of the barrel 10. Since the barrel 10 is located lower than the counterweight 40 and engaged with a lower surface side of a gear 30, when a bullet is shot and the barrel 10 is moved backward, a force to rotate the barrel 10 itself clockwise is imparted by a circular surface shape of the gear 30. The barrel 10 receives a force to be rotated clockwise from the gravity center position, the ring 61 and the ring 62, and the barrel 10 is in contact with the inner surface of the barrel supporting member 50. Thus, in spite of the existence of the clearance, the barrel 10 is not displaced in the barrel supporting member 50.

A barrel bushing and retained bias assembly are provided for engaging a barrel of a firearm to accommodate relative longitudinal movement of the barrel bushing and the barrel. The barrel bushing includes a retaining channel for retaining the bias assembly, such that a portion of the bias assembly extends into a bore of the barrel bushing to contact and be partly compressed by the outside diameter of the barrel.

A barrel bushing and retained bias assembly are provided for engaging a barrel of a firearm to accommodate relative longitudinal movement of the barrel bushing and the barrel. The barrel bushing includes a retaining channel for retaining the bias assembly, such that a portion of the bias assembly extends into a bore of the barrel bushing to contact and be partly compressed by the outside diameter of the barrel.

An active soft recoil control system that provides a bi-directional recoil containment and double strike prevention, which improves recoil force management, reduces the potential for short rounds, results in a more compact and lighter weight weapon, and increases the uniform performance of the heavy weapon at temperature extremes and steep cants. Furthermore, the present system provides for a mechanism that enables safer firing pin retraction and reduces the potential for unintentionally striking the primer and initiating the round during misfire operations.