Next Article in Journal
RETRACTED: Chen et al. Image Super-Resolution Algorithm Based on Dual-Channel Convolutional Neural Networks. Appl. Sci. 2019, 9, 2316
Previous Article in Journal
Chitosan Beads Incorporated with Graphene Oxide/Titanium Dioxide Nanoparticles for Removing an Anionic Dye
 
 
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
Article

Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator

1
School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China
2
College of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
3
Beijing Special Engineering and Design Institute, Beijing 100028, China
*
Author to whom correspondence should be addressed.
These authors contributed equally as co-first authors.
Appl. Sci. 2021, 11(20), 9438; https://doi.org/10.3390/app11209438
Submission received: 15 August 2021 / Revised: 7 October 2021 / Accepted: 7 October 2021 / Published: 11 October 2021
(This article belongs to the Section Robotics and Automation)

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.
Keywords: COVID-19; 5-DOF manipulator; forward and inverse kinematics analysis; trajectory planning; MATLAB simulation COVID-19; 5-DOF manipulator; forward and inverse kinematics analysis; trajectory planning; MATLAB simulation

Share and Cite

MDPI and ACS Style

Zhao, J.; Han, T.; Ma, X.; Ma, W.; Liu, C.; Li, J.; Liu, Y. Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator. Appl. Sci. 2021, 11, 9438. https://doi.org/10.3390/app11209438

AMA Style

Zhao J, Han T, Ma X, Ma W, Liu C, Li J, Liu Y. Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator. Applied Sciences. 2021; 11(20):9438. https://doi.org/10.3390/app11209438

Chicago/Turabian Style

Zhao, Jianwei, Tao Han, Xiaofei Ma, Wen Ma, Chengxiang Liu, Jinyu Li, and Yushuo Liu. 2021. "Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator" Applied Sciences 11, no. 20: 9438. https://doi.org/10.3390/app11209438

APA Style

Zhao, J., Han, T., Ma, X., Ma, W., Liu, C., Li, J., & Liu, Y. (2021). Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator. Applied Sciences, 11(20), 9438. https://doi.org/10.3390/app11209438

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop