# Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator
## 5 Simulation and Experiment
### Robot Prototype Experiment  
The manipulator is installed on the mobile robot, and the performance of the robot also directly affects the work of the manipulator. Therefore, we carried out experimental verification through the prototype to verify whether the actual performance of the explosive ordnance disposal (EOD) robot meets the requirements. The main technical parameters of the mechanism are shown in Table 2.  
Figure 9 shows is the construction process of the EOD robot experimental prototype. The manipulator is installed on the EOD robot, and both the manipulator and EOD robot are controlled by the remote control box MCU, as shown in Figure 10. \begin{table}
\begin{tabular}{c c} \hline \hline
**Technical Index** & **Parameter** \\ \hline Mobile platform size (mm) & 600 \(\times\) 1100 \(\times\) 900 \\ Dead weight of mobile platform (kg) & \(\leq\)200 \\ Mobile platform load (kg) & \(\geq\)100 \\ Total mass (kg) & 20-35 \\ Platform load (kg) & \(\leq\)20 \\ Motor speed(r/min) & 3000 \\ Motor output torque (N-m) & 7.78 \\ Battery life (h) & 4 \\ Climbing ability & \(\geq\)25\({}^{\circ}\) \\ Supply voltage (V) & 48 \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Main technical parameters of the mechanism. Figure 9: Construction process of experimental prototype: (**a**) Electrical components of mobile sites; (**b**) Components of mechanical arm; (**c**) Other components of EOD robot. The EOD robot system consists of two parts, the remotely controlled box and the main body of the 5-DOF manipulator. The remotely controlled box can control the movement of the robot chassis. The system structure is shown in Figure 11.  
Due to environmental constraints, simple steering and obstacle crossing experiments are only carried out under the existing conditions of the laboratory. Figure 12 shows the robot in situ steering experiment. The steering performance of the explosive disposal robot has a significant impact on its traffic ability in narrow terrain. The speed of driving wheels on both sides are set to 0.3 m/s\({}^{2}\) for in situ steering performance test. During steering, although a large force is generated between the track and the ground, the tracks on both sides do not fall off. At this time, the radius of the driving wheel R = 0.1 m, which is almost in situ steering. Figure 11: EOD Robot control system diagram. Figure 10: The remote control box MCU. Because the prototype experiment can complete almost in situ steering, the robot can complete turning in a narrow right angle space. The experimental results show that the robot can complete in situ steering and has good passing performance. Multi-layer steps can be regarded as a combination of vertical obstacles and slopes. If the EOD robot can climb multi-layer steps with a certain angle, it also has the ability to climb slopes and climb vertical obstacles. As shown in Figure 13, the selected step has a height of 155 mm, a width of 365 mm and a slope of 25.2\({}^{\circ}\), and the EOD robot can climb obstacles smoothly, which meets the design requirements and is within the required range. The specific analysis of obstacle crossing is shown in Figure 14.  
Figure 12: Robot in situ steering performance test: (**a**) Initial state of situ steering; (**b**) During situ steering; (**c**) In place intu steering end state. Figure 13: Obstacle crossing performance test of EOD robot: (**a**) Prepare for obstacle crossing; (**b**), (**c**) and (**d**) During EOD robot in obstacle crossing. Figure 14 shows the limit state of robot vertical obstacle crossing. When the robot is in the critical position, the step height \(S\) equation can be obtained:  
\[S(\psi,e,h)=\frac{L_{c}}{2}\sin\psi+e\sin\psi+R_{4}(1-\cos\psi)+h\Big{(}\cos \psi-\frac{1}{\cos\psi}\Big{)}\]  
\(\psi\) is the pitch angle of the robot;  
\(L_{C}\) is the length of the track connecting section;  
\(e\) is the longitudinal offset distance of the robot centroid.