基于移送网版AGV驱动系统的运动特性分析

发布时间：2018-02-19 22:07

本文关键词： AGV 结构设计运动学动力学实验验证　出处：《西安理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着物资流通与工业生产的发展,作为“第三利润源泉”的物流问题已经成为相关领域人们关注的热点。由于人力成本的提高,企业对物料自动化搬运技术提出了更高的要求,而AGV—自动导向小车凭借着高效、节能、安全、稳定、灵活、可靠等特点,适应了物流自动化发展的最新要求,具有着十分广阔的应用前景。本文依托于我教研室与浙江绍兴瑞群纺织机械有限公司合作的的丝网网版物流线为应用背景,以开环系统下的移送网版的AGV为研究对象,深入系统地研究其运动性能。本文的设计和描述均源自于工程实践,提出了一种应用于移送丝网网版的AGV设计方案,主要内容如下:(1)根据工程需要及成本匹配设计了一款移送网版的AGV,包含驱动方式,转向方式,车体结构设计。(2) 建立AGV的运动方程,进行圆轨迹和操场轨迹仿真。并通过坐标转换计算AGV车体在不同轨迹下行驶时的工作区域。(3)分析AGV在预设圆弧轨迹转直线轨迹时的交界处的加减速情况,计算出最优加减速的起始点,加速度及误差大小。(4)建立AGV动力学方程,计算驱动轮速最大临界值与转弯半径的关系,以保障AGV正常行驶不脱离轨迹,为中央控制系统提供理论依据。(5)进行实验验证。本文就设计的AGV样机做了实验验证,对实验结果进行分析,同时就设计中存在的问题及需要改进的方面进行了讨论。
[Abstract]:With the development of material circulation and industrial production, logistics, as the third profit source, has become the focus of attention in related fields. The AGV-Automated guided vehicle, with its characteristics of high efficiency, energy saving, safety, stability, flexibility and reliability, meets the latest requirements of the development of logistics automation. It has a very broad application prospect. This paper is based on the application background of the mesh screen logistics line of the cooperation between our teaching and research office and Zhejiang Shaoxing Ruiqun Textile Machinery Co., Ltd., and takes the AGV transferred from the open loop system as the research object. The design and description of this paper are derived from the engineering practice, and a AGV design scheme applied to the transfer screen plate is proposed. The main contents are as follows: 1) according to the engineering needs and cost matching, a transfer version of the AGV is designed, which includes drive mode, steering mode, car-body structure design. 2) the motion equation of AGV is established. The circular track and playground track are simulated, and the working area of AGV body under different trajectories is calculated by coordinate transformation.) the acceleration and deceleration of AGV at the junction of the preset arc trajectory turning straight line track is analyzed. The AGV dynamic equation is established by calculating the starting point, acceleration and error of the optimal acceleration and deceleration, and the relation between the maximum critical value of the driving wheel speed and the turning radius is calculated, so as to ensure that the AGV does not deviate from the track in normal driving. In this paper, the experimental verification of the designed AGV prototype is carried out, and the experimental results are analyzed. At the same time, the problems existing in the design and the aspects that need to be improved are discussed.
【学位授予单位】：西安理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH22

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