Research On Structural Characteristics And Attitude Control Of Omni-directional Mobile AGV Based On Mecanum Wheel

Automatic guided vehicle is also known as AGV(Automated guided vehicles),which belongs to the field of mobile robot.AGVs which combine mechanical engineering,computer engineering,control engineering,artificial intelligence and other cutting-edge technologies in many disciplines into a whole,is a kind of key intelligent transportation equipment used in modern logistics automation and flexible intelligent production.AGV plays an important role in improving the level of production automation,production efficiency and reducing production cost.Based on the practical application,the aim of this paper is to develop a small and omni-directional moving AGV with the function of material extraction and placement,and to realize the automatic material handling.Firstly,according to the actual demand,the overall technical scheme of omni-directional mobile AGV based on Mecanum wheel is put forward,which mainly including: car-body structure,Mecanum wheel drive system,material extraction and discharge system,navigation system,control system,power system and safety protection system.The 3D model of AGV based on SolidWorks environment is established,and the drawing of system parts and the selection of system components are completed,which makes preparation for theoretical analysis and experimental prototype construction.Secondly,by analyzing the structure of Mecanum wheel,the generatrix equation of Mecanum wheel roller is obtained by using elliptic arc method,and the 3D model of roller is established,and the integral structure model of Mecanum wheel is established.Based on the structure characteristics of Mecanum wheel,the kinematics characteristics of four-wheel Mecanum wheel system are analyzed theoretically,and the mathematical model is established,and the kinematics equation is obtained,which provides a theoretical basis for the motion and attitude control of the system.By the kinematics simulation analysis in ADAMS environment,the correctness of the theoretical analysis is verified,and the reference is provided for the actual motion control.Thirdly,in order to make the operation path of AGV shortest,the attitude adjustment least,and the control program simplest,a point recognition and path selection attitude adjustment control strategy based on three magnetic navigation sensors is proposed,and the running path of AGV is planned.A tracking correction fuzzy controller based on magnetic navigation sensor and gyroscope angle sensor is designed,and the tracking error correction attitude control based on fuzzy control is realized.The fuzzy controller is simulated and analyzed by MATLAB software,and the feasibility of the design is determined.Finally,the experimental prototype is built,the control program is compiled,and the functional verification experiment is carried out to test the actual power consumption of AGV,the effect of floating compensation mechanism,the position recognition and path selection,and the repeated positioning accuracy.The results show that,the omni-directional moving AGV based on Mecanum wheel can realize the function of omni-directional movement and material removal and placement,and has high positioning accuracy,and the detection index basically meets the design requirements.