本文選題：自動導(dǎo)引小車 + 全方位移動�。� 參考：《南京航空航天大學(xué)》2017年碩士論文

【摘要】：自動導(dǎo)引小車(Automated Guided Vehicle,AGV)在自動化物料搬運(yùn)系統(tǒng)中扮演著越來越重要的角色,全方位移動AGV是一種具有前進(jìn)、后退、平移、旋轉(zhuǎn)等多功能的自動化運(yùn)輸小車。本文的研究目標(biāo)是采用視覺導(dǎo)引技術(shù),以Mecanum輪作為驅(qū)動輪,研制一款具有智能化、靈活、可靠穩(wěn)定性的全方位移動AGV,以滿足日益發(fā)展的自動化物料輸送系統(tǒng)的需求。首先,本文在分析了各行各業(yè)中對于AGV系統(tǒng)的應(yīng)用需求基礎(chǔ)上,結(jié)合Mecanum輪的運(yùn)動特性,完成了視覺導(dǎo)引的全方位移動AGV的總體設(shè)計(jì);針對Mecanum輪的運(yùn)動和結(jié)構(gòu)特點(diǎn),開展了AGV車架懸掛結(jié)構(gòu)設(shè)計(jì)及AGV傳動系統(tǒng)方案的優(yōu)化設(shè)計(jì),提出了一種三點(diǎn)平衡式懸架結(jié)構(gòu),前懸架采用非獨(dú)立懸掛結(jié)構(gòu),以中心點(diǎn)為支撐,具有左右偏擺功能;后懸架采用獨(dú)立懸掛,具有繞支撐點(diǎn)上下擺動功能。不但滿足了AGV全方位運(yùn)動的要求,同時,還具有平穩(wěn)性好、減震效果佳的目標(biāo)。然后,本文建立了采用Mecanum四輪驅(qū)動模式的AGV的運(yùn)動學(xué)模型,研發(fā)了全方位移動的PID控制算法,并利用MATLAB軟件對控制算法進(jìn)行了數(shù)字模擬仿真;完成了基于UC/OS-II操作系統(tǒng)完成了實(shí)時多任務(wù)控制單元的開發(fā);結(jié)合實(shí)際應(yīng)用需求,完成了電氣系統(tǒng)、移載平臺開發(fā)設(shè)計(jì)。最后,在前期研發(fā)工作的基礎(chǔ)上,完成了自主研制的視覺導(dǎo)引的全方位移動AGV小車的研發(fā),并進(jìn)行了功能測試和核心技術(shù)指標(biāo)實(shí)驗(yàn)驗(yàn)證,實(shí)驗(yàn)結(jié)果表明本文提出的總體技術(shù)方案和控制算法是有效的、可行的,AGV具有全方位移動功能,運(yùn)行平穩(wěn)、路徑跟蹤精度高。
[Abstract]:Automated Guided Vehicle (AGV) plays a more and more important role in the automatic material handling system. The omnidirectional mobile AGV is a kind of automatic transport car with many functions, such as forward, back, translation and rotation. The research aim of this paper is to use visual guidance technology and use Mecanum wheel as the driving wheel. It has intelligent, flexible, reliable and stable omni-directional mobile AGV to meet the needs of an increasingly developing automated material delivery system. Firstly, this paper has analyzed the application requirements of AGV system in all walks of life, combined with the motion characteristics of the Mecanum wheel, and completed the overall design of the omni-directional mobile AGV with visual guidance. According to the movement and structure characteristics of Mecanum wheel, the design of the suspension structure of AGV frame and the optimal design of the AGV transmission system are carried out. A three point balanced suspension structure is proposed. The front suspension adopts the non independent suspension structure, with the center point as the support and the left and right pendulum functions. The rear suspension adopts the independent suspension and has the swing up and down around the support point. The function not only meets the requirements of the AGV omni-directional movement, but also has the target of good stability and good damping effect. Then, this paper establishes a kinematic model of AGV using Mecanum four wheel drive mode, develops a PID control algorithm of omni-directional movement, and uses the soft parts of MATLAB to simulate the control algorithm. Based on the UC/OS-II operating system, the real time multi task control unit is developed, and the development and design of the electric system and the platform are completed. Finally, on the basis of the previous research and development work, the research and development of the omni-directional mobile AGV car developed by the autonomous development is completed, and the function test and the core technology are carried out. The experimental results show that the overall technical scheme and control algorithm proposed in this paper are effective and feasible. The AGV has the function of omni-directional movement, running smoothly and the path tracking precision is high.

【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 楊銘;呂永健;叢新勇;;Mecanum輪幾何結(jié)構(gòu)與輥?zhàn)幽妇�近似方法[J];機(jī)械設(shè)計(jì)與研究;2014年05期

2 蘇永華;;全方位移動式AGV技術(shù)研究[J];制造業(yè)自動化;2014年15期

3 王興松;;Mecanum輪全方位移動機(jī)器人技術(shù)及其應(yīng)用[J];機(jī)械制造與自動化;2014年03期

4 李杰;;工業(yè)4.0時代:中國的機(jī)會在于數(shù)據(jù)和數(shù)據(jù)分析[J];世界科學(xué);2014年06期

5 王喜文;;工業(yè)4.0:智能工業(yè)[J];物聯(lián)網(wǎng)技術(shù);2013年12期

6 叢巖峰;安向京;陳虹;喻再濤;;基于滾動優(yōu)化原理的類車機(jī)器人路徑跟蹤控制[J];吉林大學(xué)學(xué)報(bào)(工學(xué)版);2012年01期

7 李沁生;于家鳳;;基于Simulink的直流伺服電機(jī)PID控制仿真[J];船電技術(shù);2011年03期

8 武星;樓佩煌;唐敦兵;;自動導(dǎo)引車路徑跟蹤和伺服控制的混合運(yùn)動控制[J];機(jī)械工程學(xué)報(bào);2011年03期

9 黃嘉誠;劉啟新;郭佳琪;謝夢;周勇;吳貞裕;盛國良;;基于慣性導(dǎo)引AGV控制系統(tǒng)的設(shè)計(jì)研究[J];科技傳播;2011年02期

10 張辰貝西;黃志球;;自動導(dǎo)航車(AGV)發(fā)展綜述[J];中國制造業(yè)信息化;2010年01期

相關(guān)碩士學(xué)位論文 前2條

1 彭光清;經(jīng)濟(jì)型模塊化磁導(dǎo)引AGV驅(qū)動單元設(shè)計(jì)及開發(fā)[D];南京航空航天大學(xué);2013年

2 任小芳;自動導(dǎo)引車的視覺導(dǎo)航[D];西安理工大學(xué);2005年

，

本文編號：1818687