Abstract— This paper details of design and implementation of

an intelligent explosive ordinance disposal (EOD) manipulator as a part of intelligent security gate system to support related agencies in EOD applications. The key features of the manipulator include an intuitive user interface and extra degrees of freedom compared to available systems in the market. The flexible design utilizes off-shelf components for ease of maintenance and repairs. The manipulator provides a safe distance and increased capacity for explosive ordinance disposal. These features help to safe human beings’ life and keep their involvement to the minimum as well as away of the expected hazards. The robot is low-cost, intuitive operation and ease to maintain promote its widespread appeal, thereby advanced industrial and security applications.

Keywords-- Manipulator, EOD Robot, 9 DOF, Security Robot, Gripper, Intelligent security gate.

I. INTRODUCTION N the past decade, robotic systems have been used with increased popularity for explosive ordnance (EOD) missions. Advances in robotic technology have made it

possible for robots to perform functions previously only possible by human workers wearing a blast suit as shown in figure1.

Fig. 1. a person wearing a blast suit protecting him for explosion

hazards The primary advantage to use robotic systems for

explosive ordinance disposal is to keep humans away from the risky tasks as safe as possible. Currently, EOD are able to traverse a variety of terrain, collect and destroy certain explosives and provide improved reconnaissance capabilities to law enforcement and military agencies[1]. Although far from perfected, these robots are saving lives by finding and

Dr. Meteb Altaf is with the National Center for Robotics and Intelligent Systems, King Abdulaziz City for Science and Technology, Riyadh, Saudi Arabia (phone:+96614883555; fax:+96614813211; e-mail: maltaf@kacst.edu.sa).

Dr. Eball Ahmad is with the National Center for Robotics and Intelligent Systems, King Abdulaziz City for Science and Technology, riy Riyadh, Saudi Arabia (phone:+96614883555; fax:+96614813211; e-mail:

disposing of explosives without the need for direct contact of human being. In a press conference in Washington, D.C. in April of 2004, Cliff Hudson, the coordinator of the Joint Robotics Program of the U.S. Department of Defense stated that:

“The bad news is we’re losing the units in the field. And the good news is we’re losing the units in the field. Every one lost is a soldier’s life saved.” [2]

Some of the incentives to use robotic systems for these missions are the difficult and complex control systems, lack of dexterity, and lack of sensory feedback. Additionally, the high cost of these systems greatly limits their availability, especially to small law enforcement divisions with limited budgets. EOD robots generally cost upwards of $250,000 depending on size, mission capabilities, functions and available tools. Since bomb technicians have a higher success rate than robots due to increased dexterity, visual awareness, and the ability to make quick movements and adjustments, many bomb crews still prefer to send in a human technician for smaller explosives in order to protect their investment from being destroyed by a small explosive. As a result, bomb technicians are frequently placed in harm‘s way to perform missions that could be neutralized by robots.

Fig. 2. Gripper Types

Despite the cost, bomb disposal robots continue to sell for

both military and law enforcement agencies because of their invaluable role in threat detection and neutralization. The functionality of existing robotic systems has continuously improved over the past decade allowing them to perform an increased range of tasks. The specs of each single manipulator differ depending on the mission of using it. For example, the length of the arm differs from robot to another according to the task that is going to be achieved using this robot. Some robots incorporate longer arms with increased degrees of

Design and Manufacturing an Intelligent Explosive Ordinance Disposal Manipulator

of 9 Degrees of Freedom Dr. Meteb Altaf, and Dr. Eball Ahmad

I

2nd International Conference on Latest Computational Technologies (ICLCT'2013) June 17-18, 2013 London (UK)

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freedom for improved dexterity and reach, different gripper designs for improved manipulation, and better cameras for improved visual awareness. Although much progress has been made in improving the capabilities of EOD robots, there is still much work to be done. Most robots are unable to disarm detonators (primary explosives that trigger larger secondary explosives), due to lack of dexterity and the need for opposable motion. Control systems are often confusing and require lengthy training sessions before the operator can even move the robot. Furthermore, the sensor feedback from existing robots is severely lacking or nonexistent, making it extremely difficult for the operator to perform desired tasks.

A. Manipulator Links Consider requirements of the mission to define manipulator

links, as shown in fig 3, there are 9 degree of freedom, include 7 rotational joints and 2 prismatic joints.

Fig. 3 Define manipulator links

B. Mission and Motion limitations

It is necessary to use EOD manipulator for checking different types of vehicles. In the design phase we will consider a typical vehicle, a layout of the inspection procedure is done in AutoCAD to check procedure, design and for links parameters design.

As shown in figure 4, we get the size of typical vehicles and then make the layout in AutoCAD.

Fig. 4. Size of three typical vehicles

Consider the structure requirements and the layout (shown in figure 5) , we can get the maximum and the minimum value of L3 as 750mm~1150mm.

Fig. 5. Layout of in car check as expected motion

As shown in figure 6 and 7, the initial requirements of the manipulator links are determined in accordance with our simulation resul

Fig. 6 Initial condition

Fig. 7. Parameters of links

Figure 8, shows all links and joints parameters of the manipulator from which our manufacturing process will start.

Fig. 8. Link and joint specifications

A. Document Modification C-Conceptual Design

After finding the manipulator specifications and requirements number of software, such as: Adams, Matlab, Solidworks were used to simulate the final product. Our Mechanical, Electrical and computer engineers were deeply involved in design and simulation stages. The results are shown in Figures 9 to 23.

Fig. 9. Solid Model of Arm1

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Fig. 10. Solid Model of Joint2

Fig. 11. Solid Model of Joint3

Fig. 12. Solid Model of Prismatic

Fig. 13. Solid Model of Prismatic2

Fig. 14. Solid Model of Prismatic2

Fig. 15. Solid Model of Joint4

Fig. 16. Solid Model of Prismatic2

Fig. 17. Solid Model of Cross Joint

Fig. 18. Solid Model of Box

Fig. 19. Solid Model of Box

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Fig. 20. Solid Model of Gripper

Fig. 21. Solid Model of Gripper

Fig. 22. Solid Model of EOD Robot

Receiver

Motion Controller

RS232

DC ServoDriver

Absolute Encoder

DC Motor

DC ServoDriver

Absolute Encoder

DC Motor

Battery

Remote Controller(10 Channels)

9 Axis

Fig. 23. The manipulator control system

II. COMMISSIONING OF EOD The final product is shown in figure 24 with all the links

are functioning and the control system is connected separately without effecting the manipulator motion. The gripper was working as planned but still needs to be connected to external camera and pressure sensors to manage the gripper handling and grapping systems.

Fig. 24. EOD Robot

A. Case Study A car was brought and an assumed two bodies (represented

by water bottles) has to be removed from the car. The system was programmed first to do the inspection procedures and then with the car position specified the manipulator did the inspection successfully and all the parts that need to be removed from the car were removed. Figures 25-30 repenting the procedures and expected results.

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Fig. 25. preparing the robot for case study

Fig. 26. The system is now ready to do real inspection

Fig. 27. the Robot is inspecting the inner of the car

Fig. 28. the robot is removing the first obstacle

III. CONCLUSION In this work, a manipulator design was coupled with an

easy to use graphic user interface and control system to provide EOD technicians with advanced explosive disarmament capabilities.. The visual and sensor feedback from the robot aids the operator in threat detection and manipulation and can be done from a safe range.. When compared to the cost of commercially available robots, even if the cost is doubled in the finalization of the design, a significant cost reduction can be seen, greatly increasing the accessibility of the robot. Though the completed robot is only a prototype, there are several key features that, with further development, will increase the efficiency and abilities of bomb disposal units.

REFERENCES [1] -20mm Recoilless MK111." EOD Tools, Waterjet Disrupters and

Forced Entry Tools. 2006. Web. <http:/ /www.proparms.com /site/ product_9.html>.

[2] -802.11 News and Other Resources.‖ Technology News, Analysis, Comments and Product Reviews for IT Professionals. CBS Interactive, 2011. Web. 25 Apr. 2011. <http://www.zdnet.com/topics/802.11>.

[3] Ames, Ben. "Makers of Ground Robots Ask for Better Sensors and Communication." Military & Aerospace Electronics. 1 July 2004. Web. 21 Apr. 2011.

[4] "Astronomy: Tips for Meade's Autostar, LXD-75 and LX200." Astronomy & Photography by Thomas Knoblauch. Web. 21 Apr. 2011. <http://www.star-shine.ch/astro/autostar/autostar_LX200_ LXD75. html>.

[5] Axis Products.‖ Axis Communications- Leader in Network Cameras and Other IP Networking Solutions. Web. 26 Apr. 2011. <http://www.axis.com/>.

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