便携式反恐排爆机器人  

Portable Anti-terrorism EOD Robot

作　　者：牟春鹏 孙家升 张涵 陶卫军[1] Mu Chunpeng;Sun Jiasheng;Zhang Han;Tao Weijun(School of Mechanical Engineering,Nanjing University of Science&Technology,Nanjing 210096,China)

机构地区：[1]南京理工大学机械工程学院,南京210096

出　　处：《兵工自动化》2020年第8期86-90,共5页Ordnance Industry Automation

摘　　要：为改善现有的排爆机器人结构设计复杂、成本高、难以大量推广应用的问题,研制一种远程电脑操控的便携式反恐排爆机器人。采用拉格朗日方程建立排爆机器人越障时的动力学方程,对机器人进行Matlab动力学仿真,验证动力学性能,并对机器人样机进行爬坡实验、模拟排爆实验测试。机器人底盘采用履带式底盘配合前摆实现复杂环境下的越障;机械臂采用推杆电机形成5自由度的串联机械臂构型实现轻量化设计。实验结果证明:便携式的反恐排爆机器人能在可视条件下进行人为遥控排爆,具有较好的应用推广价值。In order to improve the complex mechanical structure,high cost and difficulty in extensive application of the existing anti-terrorism EOD robot,a kind of portable anti-terrorism EOD robot control by a remote computer is developed.Lagrange equation was used to establish the dynamic equation of the EOD robot when it crosses the obstacle and Matlab dynamic simulation was carried out on the robot to verify its dynamic performance.In addition,the climbing experiment and simulation EOD test were conducted on the robot prototype.The robot chassis adopts crawler type chassis with front pendulum to realize obstacle crossing in complex environment.The manipulator adopts the push-rod motor to form a 5-dof series manipulator configuration to realize the lightweight design.The experimental results show that the portable anti-terrorist bomb disposal robot can conduct manual remote control bomb disposal under visible conditions,which has good application and promotion value.

关 键 词：排爆机器人 结构设计 动力学分析 仿真实验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]