Structure Design And Kinematics Simulation Of The Explosion-proof Robot

In the military security environment,robots can replace humans to complete complex,dangerous and heavy explosive disposal tasks.With the expansion of the application scope and the increase of the working environment constraints,it has become the main target and key direction of the research in the field of applied robotics to develop a multi-functional explosive ordnance disposal robot with small,flexible and stable structure.In recent years,research institutions at home and abroad have made a lot of achievements in the research of explosive ordnance disposal robot,which points out the direction for the development of the industry.This article is based on the specific function in eod robot work needs,to the robot drive system as the research object,combined with the crawler walking mechanism,designed a tandem with six degrees of freedom of the mechanical arm structure,more system completed the structure design of eod robot kinematics modeling and simulation analysis,and drive parameters optimization research work.The specific research contents are as follows:(1)Through the analysis and comparison of the structural characteristics of various types of EOD robots from domestic and overseas,in order to meet the needs of special working environment,the manipulator must be able to complete more flexible and accurate movement.A kind of driving system structure suitable for this working environment is presented.(2)In order to minimize the space and volume occupied under narrow conditions and to have better obstacle jumping performance,a crawler type light and small structure is adopted,driven by a motor.The design and calculation of the walking mechanism are carried out to determine the structure size of the vehicle body,the driving mode and the composition and size parameters of the driving device.Combining the traditional design method and the finite element analysis,the crawler walking device is designed and analyzed respectively.(3)Taking the mechanical arm as the main research object,the structure,material and driving mode of the arm are determined according to the motion characteristics and needs.Specific completed include the design of transmission system and the school load analysis,the finite element analysis of shafting parts,etc.,determine the organization form of the fetching use manipulator device and all parts of the arm structure size and drive,through the relevant parts of the school load calculation and finite element analysis,under the condition of normal use,mechanical arm movement and strength requirements.In SW software,the 3d modeling of the whole system is completed.(4)On the basis of the mechanical system design,the model processing and kinematic modeling of the mechanical arm structure are carried out,and the kinematic model of themechanical arm system is established.Through kinematic simulation,the motion process of the mechanical arm is simulated to understand the working characteristics of the mechanical arm in the process of work.In order to improve the accuracy of the manipulator in the working process,the drive parameters of the manipulator were optimized with the help of the Recurdyn.Based on the optimized driving parameters,a virtual prototype model of the whole machine was built to analyze the dynamic performance of the robot.It provides the theoretical basis for the physical prototype manufacture and field commissioning of the equipment.It is one of the research directions of future explosive ordnance disposal robots that can meet the needs of special working environment,realize complex motion forms and grasping movements,and improve operational accuracy.