Research On The Structure Of Automatic Delivery Robot

With the continuous development of China's express industry,the number of packages has increased dramatically,which leads to the heavy and difficult task of "last kilometer" delivery.The traditional "last kilometer" delivery task is mainly completed manually,which often has problems such as delayed delivery,easy loss of parcels,inflexible delivery time and place,and imperfect bulk distribution system,which cannot meet people's demand for high-quality terminal delivery.In order to improve the above deficiencies and improve the distribution efficiency,a new type of automatic delivery robot is designed.The overall structure design of automatic delivery robot mainly includes wheel,chassis and frame design,express box cabinet design,delivery device and body shell design.Use Solidworks to build the three-dimensional model of each part of the automatic delivery robot and assemble it into a whole to provide model reference for solid production.The kinematics and dynamics models of the robot wheels are established and analyzed.The forward and inverse kinematics expressions and the dynamics equations of the robot under nonholonomic constraints were obtained and the corresponding relations between the pose of the robot and its velocity,angular velocity and driving force were obtained.ANSYS Workbench was used to conduct finite element analysis on the robot frame to obtain the stress and strain cloud diagram of the frame under the two working conditions of full load bending and full load torsion,as well as the natural mode and frequency under the modal analysis which provided a reliable basis for the improvement and optimization design of the frame structure.ADAMS software is used to simulate the picking process of the robot picking device.According to the simulation results,the velocity,acceleration and displacement curves of each movement mechanism were obtained,which provided a reference for the speed setting of the loading device and the shelf layout.At the same time,the finite element analysis of the fork is carried out to verify the stiffness and strength requirements of the fork.Through the structural design and simulation analysis of the automatic delivery robot,the feasibility and practicability of the structural design are verified.Figure 41;Table 10;Reference 67...