Load Analysis And Structure Optimization Of Automated Guided Vehicle Based On Drive Unit

Automated Guided Vehicle is a kind of Wheeled Mobile Robot with the function oftransportation and has been used in modern manufacturing systems and automatic storage systems forautomated logistics transportation. However, AGV structure design did not cause the attention itdeserves, as a result, weight coefficient of AGV is big and load distribution is not reasonable, AGV needsto improve work efficiency.First, with the objective of same intensity and lighter weight, an optimization design method wasproposed to reduce self weight coefficient of AGV. On the base of optimization design method, anAGV of drive unit and vehicle frame flexible connected was designed. On the base of mechanicsanalysis on automated guided vehicle frame structure, load position and wheels position was workedout within mathematical programming. They are important constraint conditions for automated guidedvehicle frame structure optimization. A kind of multi-criteria formulation was proposed for automatedguided vehicle frame structure based on variable density method and optimality criteria and calculatedby finite element software. A3-dimensional optimization model was constructed and analyzed. Theresults showed that the optimization method was effective and reasonable.Second, to solve the problem of vehicle frame trajectory, a kinematic model was built to studythe relationship between position posture of vehicle frame and the tracking path, according togeometric parameters of vehicle frame and central angle and radius of circular arc path, positionposture of vehicle frame in world coordinate system was deduced. To solve the problem of pathtracking, the kinematics model of drive unit based on magnetic guided was built and a fuzzy controlmethod adapted to drive unit path tracking was utilized. To solve the problem of AGV load driving, adynamic model of AGV frame was built and angular acceleration of the frame was deduced. Positionposture tests improve that the kinematics model of automated guided vehicle frame is correct. Theresults of numerical simulations and tests on an actual automated guided vehicle both demonstratethat the control method can eliminate two path errors synchronously on different conditions of patherrors and velocities. The results of dynamic property tests improve that the driving stability of AGVwith this structure is excellent.Finally, the main research results are summarized. The difficult problems and valuable directionsfor further researching are pointed out, which could be solved and improved in future studies.