| Domestic and international terrorism has recently arisen, which poses great threats to people’s life and property. As a result, anti-terrorist EOD Robert is of great prospect. This paper studies EOD manipulator, main part of EOD Robert system. Through the investigation and analysis of similar products, and combined with the actual needs to determine the technical indexes of the system, this paper designs the arm body structure and control scheme and testify it through material object. Firstly, the kinematics model of mechanical arm are established by the method of D-H coordinate transformation. This paper deduces forward and inverse kinematics equation and conducts motorial simulation by MATLAB program and ADAMS. Taking into account of various factors, this paper focuses on the structural design of EOD manipulator based on the categories and principles of explosives. All parts of the EOD manipulator are designed on the concept of module. The shear diagram and bending moment diagram are drawn and stepper motor and worm gear reducer are chosen to complete the structural design of EOD manipulator. This paper also analyzes its stress components, conducts strength check and optimization and improves the base shaft. Besides, this paper summarizes three work models of the EOD manipulator and designs all operation process of carrying mission. All the components are assembled through SolidWorks,2-D drawings are formed and simulate carrying mission by Motion tool. The linear motion equation of EOD manipulator end is deduced. Finally, this paper designs a control system of EOD manipulator, compares a variety of control chip and chooses DSP 28335 as the main control chip. It also introduces the matrix keyboard input module, motor drive module and power supply module in detail, and optimizes the closed-loop control through PID and writes control program. And analyzed the error of the EOD manipulator through the experiment, results indicate that the system is up to the designing goal. |
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