EOD Robot Arm Modular Structure Design And Research

With the global anti-terrorism situation is increasingly serious, and major natural disasters occur frequently, in explosive ordnance disposal, fire fighting and dangerous work in whole or in part replaced human task EOD robot has been people’s attention. Currently this kind of robot manufacturers mainly provides customized service, and complete the design according to customer requirements, function exist certain constraints, and maintenance process cumbersome, need to pay more costs will eventually lead to loss of resources. In order to solve this kind of situation, the author chose the use of EOD robot arm as the research object, the establishment of modular EOD robot arm system. System select the modular forms processing, through the various modules collocation to solve practical problems, for the expansion of EOD robot applications and mass production laid a solid foundation.In the modular EOD robot arm, modular concept and non modular robots combine, develop a set of perfect design. The scheme is based on the functional layer facing the EOD robot arm system structure research, according to the structure and function for the special robot for module division, ensure the single unit can complete the rotary motion of one or two degrees of freedom. Design a reasonable interface for each module unit, and ensure that the mechanical interface between the two adjacent modules can be easily, quickly and effectively connected.This paper also does an intensity check for mechanical arm’s key stressed part by the Finite Element Analysis Software ANSYS, and to ensure that mechanical arm can normal work steadily. Then establishes mechanical arm’s kinematics mathematical model by the D-H coordinate transformation method, and deduces the positive and inverse kinematics equation, then does motion simulation by ADAMS software.At the end of the paper establishes mechanical arm’s kinetic equation based on Newton-Euler equation, and does kinetic analysis for mechanical arm’s operation process by ADAMS software, then obtains the driving moment’s changing rule of the shoulder, axle and wrist joint.