Abstract:Explosive ordnance disposal robot is composed of laser guiding and grasping system and body walking device. It can replace related staff to do some dangerous work. The researched robot’s grasping system was mainly composed of a base, postbrachium, antebrachium and gripper. The rotation of the joint and the opening and closing of the mechanical hand were driven by the dynamixel. In order to overcome the torque generated by the robot arm and the external load,it was necessary to provide a proper driving force on the steering gear. Constant pneumatic balance rod was adopted to balance the mechanical arm and external load. The optimal variables, constraints and objective function were determined.Optimization analysis was carried out using MATLAB software, getting the best pneumatic rod installation position and the force. The motion simulation graphics were gotten and the correctness of the optimization results was verified.