Study On The Transportation Platform System Of Heavy Load AGV And It’s The Key Technologies

The Automatic Guided Vehicle(AGV)is a kind of automatic materials carrier,which integrations of mechanism,electricity,computer and combines the advanced technology of multi-disciplinary,multi-field all sorts of advanced theory and technology,it is widely used for transferring equipment in many company’s logistics such as electron,medicine and chemical industry,etc.It has a great of significance in improving the automation level and production efficiency.Aim to the lighter load of AGV in our country,This paper mainly study the heavy load of AGV,which can compensate for the lack of respect in heavy load of AGV.Adopts a new structure which can run in omnidirectional,and study its motion control,The main research contents include the following parts:1.Structural design and Lightweight of the car: Introduction the overall structural design of heavy load AGV from the frame,the drive structure,and suspension structure.First a dimensional model for the car frame were formulated and on the basic.The car frame were optimized using ANSYS.which accounts the main weight of AGV.According to results of the static analysis to taken on the optimization method of car frame.the present work achieves the purpose of lightweight design.2.Mathematical modeling and Optimization of the turning radius: Design the new structure of wheel train and establishes the mathematical modeling of this new wheel train of AGV.Obtained the general equation of speed and trajectory during the movement.Aim to the problem of larger body size and bigger turning radius mostly based on experience without theoretical support.An Relationship between the parameters of their own and the turning radius was established based on the analysis during the turning of AGV.Aim to the deviation generated in the process of moving.The fuzzy PID controller was designed to compensate the trajectory error.At last,the fuzzy control system was established by Simulink.3.Software development and experiment of the vehicle mounted control system: Based on the study on the vehicle mounted control system,the system was divided into security module,laser guided module,wireless communication module,status monitor module,automatic charging.With analyzing and design the principle of every module.On the basis of development platform of ASRF Mobile Robot designing a software system,through the software to track the running process of the AGV.Experiment on location and navigation with test car AGV,the experimental results demonstrate that feasibility and effectiveness of the AGV in this article.