Configuration Design And Simulation Analysis Of Wheel-leg AGV

In order to improve the adaptability of Automated Guided Vehicle(AGV)to hard and flat ground,this paper designs a kind of wheel-leg AGV,carries on the kinematic modeling and analysis to it,takes the walking stability as the premise to plan the movement trajectory and gait planning of AGV in the leg walking movement mode and the wheel-leg mixed motion mode,and carries on the motion simulation analysis and finite element analysis to AGV.The main contents of this paper are as follows:Firstly,the wheel-leg device Configuration of the wheel-leg AGV was selected and designed to complete the overall mechanical Configuration design of the AGV,and the transient Configuration of ANSYS Workbench was used to conduct simulation analysis on four typical working conditions of the AGV under the legged walking motion mode and the wheel-leg mixed motion mode,the results of dynamic simulation show that the scheme has the feasibility of strength requirement.Secondly,the forward and inverse solutions of the one-leg kinematics of the wheel-leg AGV were solved by the D-H parameter method and the inverse variation method respectively,and the jacobian matrix of the one-leg velocity was solved.The accuracy of the kinematic solution was verified by MATLAB,and the one-leg motion space of the AGV was drawn.The relationship between length change and joint Angle change of servo motor cylinder is solved,and the conversion from joint space to drive space is completed,which lays a foundation for gait planning and motion simulation.Thirdly,based on the principle of static stability,the walking stability of wheel-leg AGV is analyzed,and the gait parameters are solved.Then,on the premise of walking stability,the gait and foot movement trajectories of the AGV during conventional walking,obstacle surmounting,first step climbing and climbing were respectively planned,and the AGV body movement trajectories of the AGV during standing up and advancing were also planned.Finally,the ADAMS and MATLAB joint control model of wheel-leg AGV was established,through which motion simulation analysis was carried out on four working conditions of conventional walking,obstacle surmounting,first step climbing and climbing of AGV.According to the simulation results,the feasibility of the design scheme and the accuracy of theoretical derivation results were verified.