Mechanical Design And Performance Analysis Of Explosive Ordnance Disposal Robot Manipulator And End-Effector

Under the background of the increasingly complex international environment and the increasingly severe anti-terrorism situation,violent terrorist activities frequently occur in densely populated areas such as stations and hotels.Because of the various forms of explosive attacks,the work of explosive ordnance disposal(EOD)personnel is difficult and dangerous,so the EOD robot came into being.Because of its excellent performance and the ability to reduce the casualties of EOD personnel,EOD robot has become an important research object in the field of robotics,and has attracted the attention of universities and scientific research institutes.According to the requirements of the miniature EOD robot manipulator,combined with the position and orientation requirements of the typical EOD operation,a 5-DOF manipulator is proposed,and the mechanical structure design of the manipulator is completed,and the actuation and control cables of the manipulator are completely built in.In order to meet the requirement of rapid replacement of end-effector in EOD operation,a connector for quick disassembly and connection between the manipulator and the end-effector and several end-effectors are proposed and designed.Based on the D-H coordinate transformation,the forward and inverse kinematics equation of the manipulator are established.To guide the selection of path points in trajectory planning,the workspace calculation model of the manipulator based on numerical method is established,and the cross-section figures of typical working plane are drawn by MATLAB.The jacobian matrix of the manipulator is obtained by vector differential method,and two kinds of singularities of the manipulator are obtained.Aiming at typical EOD tasks including breaking,carrying and replacing end-effector,the motion process planning of EOD robot with crawler mobile platform and manipulator is carried out.Firstly,the path point sequences of the manipulator are obtained by decomposing the task in the basic coordinate system,and then the sequences of joint angles are calculated based on the inverse solutions.Finally,the motion rules of the five joints are obtained by interpolation of the fifthpolynomial function.The joint velocities are optimized in order to improve the working efficiency of the manipulator.The dynamic analysis of the manipulator is carried out by Lagrange method.Combined with the inertia parameters and the planned trajectory of the explosive disposal operation of the manipulator,the joint torque equation is constructed and he curves of joint torque are calculated by MATLAB.By combining with motor performance parameters,the rationality of torque curve and motion trajectory are verified.Based on ADAMS dynamic simulation,the correctness of the analysis results is further verified.