Design And Analysis Of A Portable Explosion-proof Robot

Explosive removal robot has important research and application value in military and counter-terrorism problems.With the increase of terrorist attacks,anti-terrorist explosion has become an important issue of social security.At present,most of the main explosive-discharging robots are large-scale robots,which are not convenient to transport in many situations,and it is very difficult to carry out the explosion-releasing work in a narrow space environment.In order to solve this problem,a portable explosive-discharging robot was studied and designed in this paper.In this paper,according to the working environment and task of the portable exploding robot,the overall scheme was designed,the shape,quality and performance parameters were worked out,and the mechanical system structure of the robot was determined,including the moving chassis.Manipulator and control system scheme;Then the concrete structure design was carried out,and the 3D modeling of the whole prototype was carried out through the three-dimensional software SolidWorks,including the moving chassis body,the swinging arm structure and the mechanical arm structure,and the finite element analysis of the key parts was carried out with ANSYS.Secondly,the kinematics equations of the robot were established by D-H method,the kinematics of the manipulator is analyzed,the forward and inverse solutions were calculated,and the workspace simulation was carried out by MATLAB.The dynamics of the robot was analyzed by Newton-Euler method and simulated by ADAMS.The kinematics,stability and dynamics of the whole robot were analyzed,and the stability and dynamics of the robot were simulated.After that,the design of the robot control system was completed,the hardware selection and the system construction were carried out,the upper computer software and the lower computer software were designed,and the robot motion functions such as forward,backward and steering and grab function were realized.Finally,the designed prototype of the robot was tested,through the slope climbing experiment and the motor output torque detection and analysis,it was confirmed that the robot has 30 degree climbing performance.Furthermore,the exploding simulation experiment of the robot was completed to verify that the designed robot has the ability to grab 1kg explosives.These experiments further verify that the designed robot has achieved the required technical specifications and functions.