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Mechatronic design of an Explosive Ordnance Disposal Robot
This study concerns with the design of an Explosive Ordnance Disposal (EOD) Robot which is controlled in task space and with the combined sensor system the robot is capable of autonomous navigation. The robot is composed of 4 different gripping apparatus attached to a 4 degree of freedom manipulator arm which is controlled in task space and a mobile platform which provides the mobility of the EOD robot in the operation field. Since the manipulator arm of the robot is controlled in task space apart from the control system of current EOD robots, the explosive ordnance disposal task which requires high precision and dexterity can be accomplished much faster and more accurate.In addition to improvements in the control system, a combined sensory system named VS-GPS is designed for autonomous navigation of the EOD robot by combining vision system, sonar system and GPS to operate in outdoor fields. In order to achieve the most feasible sensor system, all combinations of most common five conventional sensor systems are evaluated, and VS-GPS is found to be the most effective combined sensor system design.Design of the EOD robot and sensor system includes the solid modeling of the robot using a computer program, Solidworks, strength analysis, mathematical modeling of manipulator arm and evaluation of conventional sensor systems for an optimum combination of sensor systems especially for autonomous outdoor navigation of the robot.