Development Of Omnidirectional Mobile AGV For Warehouse Logistics

In recent years,with the rapid development of e-commerce industry,traditional logistics mode of operation cannot meet such rapid development.E-commerce logistics provides a large demand for modern warehouse logistics system with flexible,high-efficiency and low-cost characteristics.Therefore,this paper aimed at the picking efficiency of the automated distribution of China's e-commerce logistics,developed an Automated Guided Vehicle(AGV)which is suitable for modern warehouse system,to realize the automation of the shelves,improve storage space utilization,save labor costs as well as reducing labor intensity.First of all,by reading the domestic and foreign literature about the development trend and research status of AGV as well as,attending related logistics exhibitions and field visits,the current application status and demand of AGV were analyzed.Based on that,this paper completed the overall structure design and component selection design of AGV,focused on the analysis of the transmission structure and damping structure analysis,key components' design,verification,and finite element simulation.Then,the paper analyzed the structure and movement characteristics of Mecanum wheel,and completed the selection of Mecanum wheel.Moreover,based on the actual needs,a kinematics model was established and its positive and inverse equations were solved.In order to achieve AGV's omnidirectional movement,the structure of wheelset layout was analyzed and the optimal layout form was obtained.On the basis of structural design and kinematics analysis,the paper carried out the kinematics simulation by using Adams software.It analyzed the simulation results,and verified the rationality of kinematic analysis.Finally,the paper tested the actual prototype on the basis of the previous research and work,a movement test,loading test,different road conditions test and other tests were conducted in simulated actual scenes,verifying the obtained data.The test results verified that the Omni-directional moving AGV has met the design requirements with Omni-directional moving function and operation smoothly.