Influence of the Stiffness of the Robotic Arm on the Position of the Effector of an EOD Robot

摘要

Terrestrial robots are being employed in a variety of sectors and for a variety of objectives. The purpose of this paper is to analyze and validate an analytical–numerical model of a robotic arm’s behavior. The proposed robot was designed to replace human personnel who remove ammunition or explosive devices. At the same time, the influence of the stiffness of the EOD robotic arm on the position of the effector in a variety of geometric task configurations was investigated. In order to obtain results relevant to the investigation, the angles of rotation under the load of each component of the arm’s composition and the vertical movement of the effector were measured. The main conclusions emphasize that a lower stiffness comes from the components of linear motors, which act on the elements of the robotic arm, and they substantially influence the elastic behavior of the arm. In addition, the constructive components of the arm have high rigidity compared to those of the linear actuators.