Mechanism Design,Kinematic Performance Analysis And Simulation Of Small-size Explosive Ordnance Disposal Robot

At present, conflicts and frequent terrorist bombing incidents often happened all over the world. The danger, complexity and emergency brings the peacekeeping work enormous difficulties. As one kind of special operation robot, the Small-size Explosive Ordnance Disposal (EOD) Robot with all-terrain adaptability, can replace human into various dangerous environments. With the powerful function of detection and explosive ordnance disposal, it has becoming one of effective tools against terrorism activities. In this paper, a small-size EOD robot mobile platform solution is proposed, the locomotion system and driving scheme are designed, and the kinematic and dynamic performances are analyzed. After developing the physical prototype of the EOD platform, the performances of the prototype are tested.The main research contents of the paper are as follows:1. According to the analysis of small-size EOD robot mobile platform design tasks and comparison the main features of typical locomotion systems at home and abroad, a compound locomotion system with five degrees of freedom is proposed. Based on some common obstacles, such as narrow channels, ditches, high-profile, slope, the constraints of the mobile platform's critical dimensions are established and the postures across these common obstacles are decided.2. The driving scheme of the small-size EOD robot mobile platform is determined. According to the typical cases of climbing, pivot steering and crossing vertical obstacles, etc, the specific kinematic performance is analyzed. The required forces in these cases are calculated to determine the robot driving source selection and the stability of the mobile platform is analyzed to ensure the trafficability of the robot;3. Based on the theory of multi-body dynamics, the virtual prototype of the small-size EOD robot mobile platform is built by using of MSCADAMS software. In the process of climbing, pivot steering and crossing vertical obstacles, the kinematic and dynamic behaviors are simulated to determine the stability and driving force requirements of the robot, which verifies the reliability of the pre-selection of the robot driving source;4. On the basis of the finite element method, the stiffness and strength of the small-size EOD robot's body module frame are analyzed in ANSYS software. The three-dimensional model of the robot mobile platform is built in SolidWorks software and all the part drawings are accomplished. The physical prototype of the robot is developed and the performance of climbing, pivot steering and crossing vertical obstacles and some other are tested in field. The testing results meet the design requirements.