Research Of AGV Position And Control System Based On Mecanum Wheels

In recent years, with the level of automation of continuous progress, AGV(Automated Guide Vehicles), also known as automated guided vehicles, has been widely used. It is also because it has significant flexibility characteristics and intelligent, one of the key equipment automated logistics system. Industrial automation logistics and transport, AGV needs with in accordance with directions given in advance, so that compared with the traditional manual material transport,greatly improving production efficiency. However, in the actual manufacturing process AGV, since during the machining error, so AGV will not fully be produced in accordance with the ideal index. This thesis mainly study the influence of an error in the production process AGV Factors of AGV path.This paper is based on a study of a large number of domestic and foreign literature on the AGV, by comparing the advantages and disadvantages of various omnidirectional wheel, and finally selected as the AGV mecanum round wheels.Analysis of the structure and characteristics of mecanum wheel omnidirectional movement principle, after comparing get omnidirectional wheel assembly assembled by constantly reasoning obtained kinematic model mecanum wheel.Secondly, according to the subject requirements and design principles, the design of the overall structure of the program of the AGV. This selection of the microcontroller as the main controller. Selection of ultrasound obstacle avoidance, use visual guidance AGV.Third, the matrix obtained by kinematic analysis which change each element on a single wheel speed, the simulation image obtained clearly see the trend as a whole.Finally, the simulation analysis, the impact caused the error AGV in the production process of the AGV path. By analyzing the subtle change of a single element, and other factors not become the case, to give AGV deviation given ideal path. And then we can try to avoid these errors in the actual production and processing.AGV able to achieve as much as possible in accordance with a given path of travel purpose...