Completely mechanical quick changeable joints for multipurpose explosive ordnance disposal robots

SUMMARY This paper is an investigation of completely mechanical quick changeable joints for multipurpose explosive ordnance disposal (EOD) robots. With the assistance of a quick changeable joint, an ordinary EOD robot becomes a multipurpose robot with an end effector which can be switched during the task. This exchangeable end effector permits the robot to perform more complex duties. Making the joint completely mechanical increases its capacity and decreases its complexity of control and risk of failure. In this paper, the design, manufacturing, and testing stages are explained for four quick changeable joints each possessing different physical working principles. The test results reveal the best design for a multipurpose EOD robot and give ideas for other uses of quick changeable joints. Employing the quick changeable joints in other mobile robot applications can increase a robot's capacity and efficiency.