Using modern design theory and robot technology

and according to structural features of robot

taking the lightest weight as optimal targets

taking the geometry size

the worm gear tooth face fatigue strength

the worm bearing adjuster characteristic coefficient

the modulus

the number of teeth

and so on as the constraints

the structure optimization of bomb disposal robot’s manipulator is carried out

The result show that the manipulator’s structure is good

the weight is light

the movement is flexible.