Study of the Design of an Explosive Ordnance Disposal Manipulator for Small Unmanned Ground Vehicle

Koh, Doo-Yeol; Lee, Seung-Ho; Rhee, Joon-Seong; Hwang, Ki-Sang; Kim, Soo-Hyun

doi:2011.14.5.948

J. KIMS Technol > Volume 14(5); 2011 > Article

Journal of the Korea Institute of Military Science and Technology 2011;14(5):948-956.
DOI: https://doi.org/10.9766/KIMST.2011.14.5.948

Study of the Design of an Explosive Ordnance Disposal Manipulator for Small Unmanned Ground Vehicle

Doo-Yeol Koh, Seung-Ho Lee, Joon-Seong Rhee, Ki-Sang Hwang, Soo-Hyun Kim

¹KAIST
²Hanwha

소형 무인주행로봇에 탑재되는 EOD 매니퓰레이터 설계에 대한 연구

고두열, 이승호, 이준성, 황기상, 김수현

¹한국과학기술원
²한화 종합연구소

Abstract

In this paper, mechanism design of the explosive ordnance disposal(EOD) manipulator for small unmanned ground vehicle(SUGV) is presented from the conceptual to detailed design. EOD manipulator has been widely developed in the world due to the growing threat of the improvised explosive devices at war. It has distinctive characteristics, such as small size and high loading performance, compared to the industrial manipulator which is fixed on the floor. Design of new EOD manipulator must take into account various functional requirements and constraints simultaneously. We focused on developing the EOD manipulator that has suitable size for the SUGV and maximum 15kg payload capacity. Design approach taken in this paper is based on axiomatic design procedure and comparison among many possible candidates of each joint structure to obtain appropriate entire structure of EOD manipulator.

Key Words: EOD Manipulator, Small Unmanned Ground Vehicle, Improvised Explosive Devices, Design