Design And Research Of Intelligent Following Handling Robot

The market demand for intelligent handling robots will continue to grow because the “Made in China 2025” continues to deepen,the demographic dividend will recede,and labor costs will increase.After investigating the development status of intelligent handling robots at home and abroad,it is found that existing intelligent handling robots have limitations in that they require navigation belts or expensive navigation equipment.In response to these limitations,the thesis designs an intelligent following handling robot that does not require a navigation belt and is inexpensive.First of all,the thesis summarizes the development history of intelligent handling robots at home and abroad and sliding mode variable structure control algorithms.It provides reference and planning for intelligent following handling robot system design.Then,on the mechanical platform of the intelligent following handling robot,the thesis combines the existing sensing detection technology and micro-control technology to realize the software and hardware design of the control system.The hardware component of the intelligent following handling robot is mainly composed of 8 modules.They are power modules,ultrasonic modules,magnetic navigation modules,RFID site modules,motor drive modules,anti-collision strips,serial screen modules and the main control modules with STM32F103VET6.Based on the hardware support,the software designs three motion modes,which are divided into the manual mode,the tracking mode and the track following mode,so that the intelligent following handling robot can realize the practical application requirements in a complex working environment.Based on the analysis of the dynamics and kinematics of the intelligent following handling robot,the thesis proposes a composite trajectory following control algorithm based on Backstepping and fast terminal sliding mode,which accelerates the convergence of system error and output.It has better universality in the application.Finally,the intelligent following handling robot completes the functions of normal operation,obstacle avoidance,load testing and trajectory following.In general,the experimental results show that the intelligent following handling robot system achieves the design requirements.