A Study Of The Structure And Motion Characteristics For Wheel-Tracked Explosive Ordnance Disposal Robot

In recent years,the terrorist attacks take place frequently.The explosive ordnance disposal(EOD)robot is playing a crucial role in dealing with terrorist incidents and it has been widely used in public security system,national army,and fire department.However,the traditional EOD robot of single function is generally incompetent when facing increasingly complex working environment.In this paper,a wheel-tracked EOD robot of various movement modes was successfully designed and its mechanical structure,motion pattern,and kinematics were studied in detail.Firstly,based on the idea of modular design,the structure design of EOD robot is innovated,which makes the EOD robot achieve assembly and switch rapidly in the face of different tasks and environment.The motor selection calculation and finite element analysis of manipulator were also conducted to optimize the structural parameters and dock with actual production.The second,this work carried out kinematical analysis on the mechanical structure design.we constructed the EOD robot kinematics model and solve the positive solutions and inverse solution of the robot by using D-H rule,calculated the Jacobi matrix of the robot by using the vector product method,analyzed the singular configuration of the robot based on the Jacobi matrix,analyzed the robot working space by using the SimMechanicsin MATLAB to realize the trajectory planning for subsequent groundwork;Thirdly,using the MATLAB software and SolidWorks software for kinematics simulate the three-dimensional model of the EOD robot,the kinematics analysis is proved to be correct in this paper at the same time laying a foundation for the practical application of the robot as well.Finally,according to the structural feature of EOD robot,several motion models were analyzed and some complex actions of climbing stairs,crossing ravines and passing obstacles were finished by the robot.The wheel-tracked EOD robot designed in this work demonstrates the advantages of excellent adaptability to varying work conditions,multi-purpose,and high reliability.And the experiment prototype fulfills several complex actions of grasping,crossing and climbing.