Mechanical System Design, Working Performance And Motion Planning Research Of Explosive Ordnance Disposal Robot Manipulator

Nowadays, explosion and terrorist attack events often occured in the world, which may be the hidden troubles of world peace and development. Because of the disguise of explosion and terrorist attack, diversity of explosive and method, the EOD(Explosive Ordnance Disposal) technology has become a global challenge. As a kind of EOD equipments, EOD robot can carry out EOD tasks instead of human in hazardous areas. EOD robot has become an important branch in the robot research areas.Combined with function requirements of EOD robot, a five-DOF manipulator is proposed, the mechanical system of the manipulator is designed detailedly. In order to meet the requirements of product, the mechanical stability and encapsulation are taken into account seriously. A new three-finger gripper with adjustable angles between fingers is designed, and the introduction and description of this gripper are given in detail.Base on the D-H coordinate transformation method, the manipulator kinematics is analyzed, and the forward and inverse kinematic relationships are established. In order to analyze the singular position and orientation, the Jacobian matrix of manipulator is deduced, and two kinds of different singular position and orientation are obtained by using of screw theory and construring Jacobian square matrix,A new representation for path point is put forward based on X-Y-Z Fixed Angle coordinate representation. On the basis of EOD task simulation, path points and motion laws are planned based on joint space planning method. Finally, the locus function and simulation curves of joint motions are obtained.The manipulator dynamics is analyzed based on Lagrangian method. According to joint motion laws from joint space planning, the moment laws of joint driving motors are obtained by dynamic simulation in MATLAB. In comparison with the performance parameters of motors, the rationality of joint motion laws is demonstrated. The correctness of dynamics analysis is verified by dynamic simulation based on virtual prototype in ADAMS and the comparison of simulation curves.