The Research On Redundant Manipulator

With the increase of EOD tasks,EOD robot is widely used.The mechanical arm is an important structure contacted with the target directly.A redundant degree of freedom mechanical arm is put forward to improve work efficiency of EOD robots.From the actual demand of the EOD manipulator working in the bus,the basic structure based on the technical parameters is determined.Calculate the driving torque of each joint movement,and build a 3-D model.The manipulator is analyzed by finite element.The stress and strain cloud map is obtained to verify the reasonableness of the structure.Model analysis of the whole arm is carried out,and frequencies and modes of the first six orders of the manipulator is obtain under different working conditions.Compared the frequency with the vibration frequency of the joint motor to confirm the rationality of the structure so as to provide a basis for the targeted optimization of the structure.Research and studies are carried out on the EOD manipulator.The mathematical model is established by D-H method.MATLAB and ADAMS are a good application to prove the correctness of the calculation results.And the Monte Carlo method is used to calculate the model,the lattice image of the operating space of the manipulator is also obtained in the working conditions of the bus.The coverage rate in the two kinds of rod length is calculated,and the structure is further optimized.In view of the motion performance of the manipulator,the links of the manipulator is analyzed.The motion process simulated,and the geometric parameters of the large arm connecting rod are analyzed.The light weight model of the connecting rod is established by mathematical method,and the geometric parameters of the rod is optimized.The results are substituted into the verification to determine the validity of the optimization results.Seven DOF Manipulator is analyzed and studied.from the aspects of the static analysis,modal analysis,working space,and the motion performance,optimize structure of the EOD robot arm to improve the motion performance of the manipulator,and make the structure more reasonable.