The Design Of EOD Robot With Multi-Joint Mechanical Arm

This paper developed a robot which involved with mechanical, electronic and computer control technology. Based on human arm, walking crawler-type and clamp gripper, it achieves a remote control EOD robot. The main work of this thesis is:1. The walking crawler base is designed. Taking into account the operating environment of the robot, make full use of DC motor control with PWM and crawler walking base’s climbing obstacle ability, The walking crawler base has high stability through rugged road performance.2. The hardware system is designed use modular method. Upper and lower machine used embedded industrial computers as the core processing module. The robot is remote control using the joystick and buttons on the control box. The industrial band230MHz communication system is used to send commands,2.4GHz frequency band is used to transmit video communications, which ensure the robot has strong anti-jamming capability in the complex working environment, the remote control distance of the system is up to500meter.3. Visual Studio2010is used to program the upper and lower control system.4. LCD screen real-time displays remote video image of HD cameras, binocular stereo video and robotic arm angle of small window lines, which achieve a global observation of the external environment, so that the operator can complete the remote suspicious crawl of the target interactively.A series of experimental results show that the robot met the requirements of design specifications.The research work of this thesis has been funded by Anhui science and technology project for strengthening the police "Development of Remote counterterrorism EOD robot (1201b0403020)".