Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator

Abstract

To address the problems of mismatch, poor flexibility and low accuracy of ordinary manipulators in the complex special deflagration work process, this paper proposes a new five-degree-of-freedom (5-DOF) folding deflagration manipulator. Firstly, the overall structure of the explosion-expulsion manipulator is introduced. The redundant degrees of freedom are formed by the parallel joint axes of the shoulder joint, elbow joint and wrist pitching joint, which increase the flexibility of the mechanism. Aiming at a complex system with multiple degrees of freedom and strong coupling of the manipulator, the virtual joint is introduced, the corresponding forward kinematics model is established by D–H method, and the inverse kinematics solution of the manipulator is derived by analytical method. In the MATLAB platform, the workspace of the manipulator is analyzed by Monte Carlo pseudo-random number method. The quintic polynomial interpolation method is used to simulate the deflagration task in joint space. Finally, the actual prototype experiment is carried out using the data obtained by simulation. The trajectory planning using the quintic polynomial interpolation method can ensure the smooth movement of the manipulator and high accuracy of operation. Furthermore, the trajectory is basically consistent with the simulation trajectory, which can realize the work requirements of putting the object into the explosion-proof tank. The new 5-DOF folding deflagration manipulator designed in this paper has stable motion and strong robustness, which can be used for deflagration during the COVID-19 epidemic.

A Multigoal Path-Planning Approach for Explosive Ordnance Disposal Robots Based on Bidirectional Dynamic Weighted-A* and Learn Memory-Swap Sequence PSO Algorithm

“…. , n}, dist D(i),D(i+1) denotes the distance between the ith goal position and the (i + 1)th goal position, and dist D(n),D (1) denotes the distance between the nth goal position and the start position.…”

“…Terrorism is a serious threat to the civilized world. To quickly and efficiently deal with explosives, various EOD equipment has been developed, such as the Andros series EOD robot [1], RMI-9WT [2], Packbot-EOD [3], etc. EOD robots can replace people in carrying out extremely hazardous tasks such as detecting, inspecting, grabbing, and transporting suspicious explosives in a dangerous environment.…”

Research on trajectory planning method of the collaborative manipulator

“…Kinematics is the foundation of robotics, and the vast majority of kinematic modeling today uses the D-H parameter method. The improved D-H parameter method differs from the original D-H parameter method in that it bases the linkage coordinate system on the I joint axis, and this change also changes the parameters of the D-H matrix and D-H [4] .…”

Design of a Teat Cup Attachment Robot for Automatic Milking Systems

“…In order to verify the stability and continuity of the teat cup attachment robot during its motion, quintic polynomial interpolation [30] was used for the interpolation calculation to design the trajectory of the end of the robot arm, and the simulation was verified using MATLAB. Because the milking robot proposed in this study is a nine-degree-of-freedom redundant robot, in which the three-degree-of-freedom attitude adjustment device is mainly used for an initial attitude adjustment, in order to meet the actual requirements, only the mo- Figure 7 shows that the teat cup attachment robot had a working space range of (−819 mm, 1819 mm) on the X-axis, (−819 mm, 2318 mm) on the Y-axis, and (−229 mm, 1819 mm) on the Z-axis.…”