当前恐怖事件时有发生，对于爆炸物的探测、转移与销毁事关国计民生，也是世界重视的问题。排爆机器人可以代替人类进入复杂危险的场所，具备探测能力与越障能力，通过遥操作方式远程完成对爆炸物的处理，可以减少恐怖事件造成的民众伤亡与社会损失。近年来，随着排爆任务的多样化与排爆环境的复杂化，对于排爆机器人运动规划等方面提出了更高的要求，尤其对安全方面的研究格外值得重视。本文旨在研究排爆机器人硬件结构设计，软件控制系统以及运动规划算法并研制样机系统在排爆场景中进行验证。 首先针对复杂排爆任务以及远程操作的要求设计了一套适合的软硬件系统。硬件系统主要包括带有摆臂的履带车底盘以及大小异构双臂，同时具备越障能力和大范围抓取与小范围精细操作的能力，符合排爆的任务需要。软件控制系统选择在 V-REP 平台建立机器人模型并设计用户界面，设计遥操作控制方法与无线通信使得实物仿真同步，实现实时控制排爆机器人，同时在控制系统中完成功能设计并获取排爆机器人周围图像信息。 其次为了提升排爆机器人遥操作控制的安全性能与稳定性能，设计了三种面向安全的运动规划算法。第一种是基于虚拟墙的工作空间保护，可以避免机械臂末端超出工作空间边界影响工作效率。第二种是基于最短距离模块的自碰撞保护，可以避免在遥操作过程中机械臂碰到自身结构。第三种是基于改进 RRT-Connect算法的运动规划，可以避免机械臂运动时候发生双臂干涉。三种算法通过仿真和实物测试验证了有效性。 最后为了综合验证软硬件系统设计与算法设计的有效性，在实际排除爆炸物场景中测试了异构双臂排爆机器人的操作性能，以及针对排爆场景开发的多种功能，比如大小车协同排爆，激光辅助抓取，自主更换模块化末端，双臂协同辅助抓取，履带车半自主越障，开拉链包取爆炸物等。同时在地铁与公交车实际的排爆场景中实验。本文的设计与方法提升了排爆机器人执行任务的能力与安全性，为遥操作排爆机器人的工程化奠定了基础。

The current terrorist incidents occur frequently, and the detection, transfer, and destruction of explosives are related to the national economy and people‘s livelihood, and are also issues that the world attaches great importance to. Explosive disposal robots can replace humans in entering complex and dangerous places, with detection and obstacle clearance capabilities. They can remotely handle explosives through remote operation, reducing the casualties and social losses caused by terrorist events. In recent years, with the diversification of explosive disposal tasks and the complexity of explosive disposal environment, higher requirements have been put forward for the motion planning of explosive disposal robots, especially for the research on safety. This thesis aims to study the hardware structure design, software control system and motion planning algorithm of the explosive removal robot, and develop a prototype system to verify in the explosive removal scene. Firstly, a suitable software and hardware system was designed for complex explosive disposal tasks and remote operation requirements. The hardware system mainly includes a tracked vehicle chassis with flippers and heterogeneous double arms of different sizes, while also possessing obstacle crossing ability and the ability to grasp in a large range and perform fine operations in a small range, which meets the requirements of explosive disposal tasks. The software control system chooses to establish a robot model and design a user interface on the V-REP platform, design remote operation control methods and wireless communication to synchronize physical simulation, achieve real-time control of the explosive disposal robot, and complete functional design in the control system and obtain image information around the explosive disposal robot. Secondly, three safety oriented motion planning algorithms are designed to improve the safety and stability of the explosive removal robot teleoperation control. The first type is workspace protection based on virtual walls, which can prevent the end of the manipulator from exceeding the workspace boundary and affecting work efficiency. The second type is self-collision protection based on the shortest distance module, which can prevent the manipulator from touching its own structure during remote operation. The third is motion planning based on the improved RRT Connect algorithm, which can avoid the interference of two arms when the manipulator moves. The effectiveness of the three algorithms has been verified through simulation and physical testing. Finally, in order to comprehensively verify the effectiveness of software and hardware system design and algorithm design, the operational performance of heterogeneous dual arm explosive disposal robots was tested in actual explosive disposal scenarios, as well as various functions developed for explosive disposal scenarios, such as collaborative explosive disposal of large and small vehicles, laser assisted grasping, autonomous replacement of modular ends, dual arm collaborative assisted grasping, semi autonomous obstacle crossing of tracked vehicles, and zipper opening to remove explosives. Simultaneously conducting experiments in actual explosion control scenarios on subways and buses. The design and methods in this thesis have improved the ability and safety of explosive disposal robots to perform tasks, laying the foundation for the engineering of remotely operated explosive disposal robots.