Kinematics Analysis of a five-degree-of-freedom lightweight Explosive Ordnance Disposal robotic arm

Abstract

To address the problems of complex structure, poor flexibility of Explosive Ordnance Disposal (EOD) robotic arm, this paper proposes a five-degree-of-freedom (five-DOF) lightweight EOD robotic arm. Firstly, the basic parameters and workspace of the robotic arm are identified based on the EOD tasks. The workspace of the robotic arm is analyzed by Monte Carlo method to prove that it can satisfy the operating requirements. Secondly, the simulation analysis of the gripping trajectory is carried out by the quintic polynomial interpolation method to verify the rationality of the design parameters and the motion trajectory of the lightweight robotic arm. Finally, by the simulation results in the Matlab, we constructed a robotic arm motion control system, verified the correctness of the control algorithm on the prototype of the robotic arm, and completed the simulated EOD experiment. The experimental results prove that: the lightweight robotic arm can operate flexibly and quickly grab the explosive object, which is suitable for EOD operations.