Optimal design of the air-balancing device for the rear arm of anti terrorist and riot robot

DOI

10.2991/icmse-18.2018.73How to use a DOI?

Keywords

manipulator, residual torque, MATLAB,optimization,air-balance device

Abstract

Anti terrorist and riot robot is composed of laser guidance, grasping system and walking device. It can replace some related personnel to do some dangerous operations. The grasping system studied in this paper is mainly composed of four parts: base, rear arm, forearm and mechanical gripper. Joint rotation and mechanical gripper are driven by steering gear. In order to overcome the heavy torque produced by the mechanical arm and the external load in the working process, the steering engine is required to provide greater driving force. In order to reduce the driving torque of joint steering engine and improve limit load of the manipulator. This paper put forward to install of air-balancing device on the robot rear arm, and determine the optimal variables, constraints and objective function. By using MATLAB software for optimization analysis, the best installation position、optimal force of the air-balancing device and the simulation figure about output motion are obtained, and the correctness of the optimization results is verified.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xinglei Zhang
AU  - Binghui Fan
AU  - Hanjin Liu
PY  - 2018/05
DA  - 2018/05
TI  - Optimal design of the air-balancing device for the rear arm of anti terrorist and riot robot
BT  - Proceedings of the 2018 8th International Conference on Manufacturing Science and Engineering (ICMSE 2018)
PB  - Atlantis Press
SP  - 372
EP  - 376
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmse-18.2018.73
DO  - 10.2991/icmse-18.2018.73
ID  - Zhang2018/05
ER  -