The Design and Analysis of a Light Explosive Ordnance Disposal Manipulator

摘要

In this paper, the parameters of a light explosive ordnance disposal manipulator (EOD manipulator) is designed to meet the requirements of large ratio of load to self weight, which could be carried easily by single soldier in the war field. For compact and light design, the motion space, kinematics and dynamics simulation is carried out to obtain the kinematics and dynamics indicators of the EOD manipulator. On this basis, the arm type, joint drive system and control system are designed. The joints are designed as modular so as to replace and maintain the joint conveniently. The joint adopts the “motor-planetary reducer-turbine worm” drive chain to achieve the large ratio of load to self weight. At the same time, the self-lock protection caused by power failure and complex work environment could also be accomplished. The automatic capture is realized by the end of EOD manipulator coordinated with the auxiliary vision camera. Finally the grabbing experiments prove the effectiveness of the design and analysis method, thereby suitable to be promoted to other miniaturized robot designs.