| According to statistics,in the production cost of products,the proportion of logistics costs can be up to 50%,and the time spent in the logistics process in the production process accounts for an astonishing 95%.Improving logistics efficiency can significantly reduce production time and reduce production costs.Mobile robots can provide efficient and reliable protection for material handling operations in modern logistics systems and flexible smart factories,improve logistics automation and transportation efficiency,and shorten product production cycle to save production costs.This topic starts from the actual,the goal is to design a wheeled robot with a full range of moving ability to pick and place specified materials and its motion control method.Firstly,the development status of mobile robots at home and abroad is analyzed and compared.Combined with the actual needs of the project,the design scheme of mobile robot based on Mecanum wheel is proposed,which mainly includes the omnidirectional mobile system based on the four-wheel mechanism of Mecanum wheel.Mechanical jaws,navigation system,power unit,control system and robot body.The 3D model of the mobile robot was built in Solidworks software,and the selection of components required for each part was completed.The preparation for virtual prototype simulation and test prototype construction was completed.Secondly,the structure characteristics of the Mecanum wheel are analyzed,and the Mecanum wheel roller bus equation is established by the elliptical arc method.Based on this,a three-dimensional model of the Mecanum wheel is constructed to refine the structure of the Mecanum wheel and combine the geometry of the mobile robot.The kinematics equation of the mobile robot is obtained and analyzed,and the theoretical basis for controlling the omnidirectional movement of the robot is obtained.And the parameters that the robot needs to control the correction are calculated.The kinematics simulation was carried out by introducing the robot 3D model into the ADAMS environment,which verified the authenticity and effectiveness of the kinematics equation.Then,an automatic tracking scheme based on magnetic navigation sensor is designed to ensure that the robot can perform point recognition and path selection autonomously,and optimize the movement path under the simple program as much as possible.In order to improve the motion accuracy of the mobile robot and ensure that the robot can operate correctly along the predetermined trajectory,the fuzzy control principle is introduced,and the fuzzy controller based on the magnetic navigation sensor is designed.Through the real-time adjustment of the speed of the Mecanum wheel,the real-time adjustment is realized.The autonomous correction of the mobile robot during the tracking process.The virtual prototype simulation was carried out in the simulink environment to verify the effect of the fuzzy controller.Finally,the robot physical prototype is completed,the control program is written,and the function verification experiment is performed to verify the rationality of the design.The experimental results show that the designed mobile robot's omni-directional mobility can achieve the desired goal,and its control system can ensure its motion accuracy meets the requirements. |
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