| Under the background of an AGVS for machining centers,the valve-handling AGV,a key equipment,is chosen as the research object of the paper.Study has been carried out from three aspects:mechanical design,kinematic analysis and simulation,dynamic analysis and simulation.Some research has been done about kinematic and dynamic problems of AGV in the purpose of navigation and control,while the vehicle-walking itself,especially the turning-process,is not paid enough attention.In fact, the turning-process dynamics are quite complicated, and closely linked with the structural design, drive system design, walking path planning,carrying loads, etc.This is where the paper’s priorities and characteristics lay on.Four major mechanisms in the valve-handling AGV,including running gear,hanging mechanism,convey roller and rise-and-fall mechanism,were studied in detail,and their design and selection method was given.Quantitative analysis method for AGV’s mobility was proposed,finding that driving wheels’ speed has an essential effect on the kinematic performance,which was verified in ADAMS.A mechanics equation for the valve-handling AGV in turning-process was established.And this paper analyzed lateral mechanical properties of the castor, which was found that has a decisive influence on AGV’s attitude adjustment.Then,the reason for turning-difficulty was given.At last,by the simulation in ADAMS,a research was done on the relationship between the turning radius and the traction of driving wheels. |
