Journal of South China University of Technology (Natural Science Edition) ›› 2007, Vol. 35 ›› Issue (3): 56-60.

• Mechanical Engineering • Previous Articles     Next Articles

Vibration Analysis of Explosive Disposal Robot on Uneven Terrain

Mo Hai-jun  Xie Cun-xi  Hu Qing-chun   

  1. School of Mechanical Engineering , South China Univ. of Tech. , Guangzhou 510640 , Guangdong , China
  • Received:2006-06-02 Online:2007-03-25 Published:2007-03-25
  • Contact: 莫海军(1966-)，男，博士，讲师，主要从事机器人动力学研究. E-mail:mohj@scut.edu.cn
  • About author:莫海军(1966-)，男，博士，讲师，主要从事机器人动力学研究.
  • Supported by:

    广东省科技攻关项目( 2004 A10403006 )

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Abstract:

In this paper , a tracked explosive disposal robot developed by South China University of Technology was used as the object to investigate the impact and vibration of the explosive caused by the moving of the robot on un-even terrain. A dynamic model of the robot manipulator was then established. The dynamic characteristics and the stability of the explosive under the excitation of uneven terrain were finally analyzed by Matlab simulation. The re-sults indicate that the moving speed of the robot greatly affects the stability of the grasped explosive and should be kept at O. 8m/s to ensure the safety when the robot moves on uneven terrain.

Key words: explosive disposal robot, explosive, uneven terrain, dynamic modeling, vibration