Mechanical Design And Research On Algorithm For Operation Of Large EOD Robot Manipulator

Anti-terrorism robot system is mainly used to detect, eliminate and dispose bomb or other dangerous exploder. In additon, it can be used for lauching attack to rodman and terrorist. It is not only the essential equipment in anti-terrorist army, but also widely used in succor and battle. Because of the low payload, finite work space and bad adaptability in complex envi- ronment, the thesis puts more emphasis on the issue and researches a series of problems including the whole design of robot manipulator, analysis of kinematics and algorithm for operation and so on, developed a large EOD robot manipulator which can be used in complex environmen such as bottom of motor and carriage.First, the thesis researched the characteristric of mechanical design as a whole and selection of partial structure units. According to the related requirement, with modern methods of mechanical design such as CAD, module design and so on, the thesis designed the joint structure dependently one by one from the grip to the waist after comparison of advantages and disadvantages of each transmmision mechanism. Then the thesis researched the simulation of motion inference and finally accomplished a 6-DOF robot manipulator.Secondly, I established kinematic model of the EOD robot manipulator with D-H coorcinates transformation and calculated the matrix T and matrix Jocobian. Then I specified two different positon and orientation to validate the conclusion.At last, I developed an simple but practical algorithm for operation with the technology of sensor and traits of redundant manipulator. Then I pro- gramed the motion simulation by Matlab sofeware.