Research And Application Of The Design Method Of A Multi-information Fusion AGV

This paper proposes a design of the modular magnetic automatic guided vehicle (AGV) system, with a software system using MEMS inertial sensor element to get position and direction as a feedback.Generally, this article can be devided into two main parts. The first part expounds a detail process to describe the mechanical structure of the designed automatic vehicle robot, which starts from the introduction of ADAMS virtual prototype technology to gain dynamic simulate for the driving module. By using ADAMS we also made a stress and strain analysis for the elastic board which is located in the key part of the driving module named elevator structure in flexible form. Then we use Matlab to simulate the track of the driving module and the end of the AGV body to test the kinematics performance of the AGV after doing the kinematic analysys of the chassis, and the result helped us to raise several methods to improve the AGV structure. At last we collected the process of the simulation and design and worked out a CAD software(driving motor, calculation of the parameters) which is suit for the similar AGVS to ease the subsequent development.The second part of the paper mainly elaborated the position and direction feedback system which based on MEMS acceleration and electronic compass modules. The research of the system includes hardware components, and software method of the digital Kalman filter, thus realized the design demands.