| AGV is a highly flexible and automation of logistics transportation system,It can quickly links all kinds of production lines,assembly lines,conveyor line,platform,shelf,operating point.According to the actual demand,it can implement different functions.Based on AGV can finish processing,logistics and production,and sales of flexible cohesion in the unmanned production workshop,the flexible system,the flexible assembly system,warehousing logistics,such as modern manufacture logistics system,so it has become an important symbol of modern logistics.In this paper,according to the enterprise actual demand,I designed a submersible AGV and shelves.Based on Solidworks 3-D structure of AGV has been modeled,optimized by ANSYS analysis.I set up with PMAC motion control card as the core of the AGV control system and write the motion control program.AGV motion model is established,and its positive and inverse kinematics was deduced,using Matlab to the simulation analysis.AGV with shelf location problem is solved,I developed a reciprocal positioning system includes positioning system in conjunction with mechanical structure.Through the establishment of AGV movement parameter identification model of AGV motion control variables have been fixed,its motion precision is improved..Based on Matlab GUI I developed AGV obstacle avoidance simulation platform,to simplify the AGV path planning for obstacle avoidance and simulation.Through the actual test,submersible AGV can satisfy the actual needs of enterprises. |
PDF Full Text Request