Abstract: Aiming at the existing problem of non-force feedback, low telepresence and mis-operation in explosive ordnance disposal easily causes explosion, a master-slave hand system for explosive ordnance disposal is designed. The system consists of two isomorphism manipulator, and the force sensor in each manipulator is installed to detect the personnel and explosive ordnance generated force for master-slave hand. The dynamic model and control model of master-slave hand are established and dynamic response of structure by two kinds of explosive and model in grab is tested. The experimental results show that the characteristic of force and delay have better mapping between the master and slave hands when manipulator disposes low-mass explosive, and the mapping of force of slave hand generates oscillation and delay, when manipulator disposes massive explosive.

Key words: Dynamic response, Explosive ordnance disposal robot, Manipulator, Master-slave hand, Telepresence