本文選題：自動(dòng)導(dǎo)引小車 + 全方位移動(dòng)　； 參考：《南京航空航天大學(xué)》2017年碩士論文

【摘要】：自動(dòng)導(dǎo)引小車(Automated Guided Vehicle,AGV)在自動(dòng)化物料搬運(yùn)系統(tǒng)中扮演著越來越重要的角色,全方位移動(dòng)AGV是一種具有前進(jìn)、后退、平移、旋轉(zhuǎn)等多功能的自動(dòng)化運(yùn)輸小車。本文的研究目標(biāo)是采用視覺導(dǎo)引技術(shù),以Mecanum輪作為驅(qū)動(dòng)輪,研制一款具有智能化、靈活、可靠穩(wěn)定性的全方位移動(dòng)AGV,以滿足日益發(fā)展的自動(dòng)化物料輸送系統(tǒng)的需求。首先,本文在分析了各行各業(yè)中對(duì)于AGV系統(tǒng)的應(yīng)用需求基礎(chǔ)上,結(jié)合Mecanum輪的運(yùn)動(dòng)特性,完成了視覺導(dǎo)引的全方位移動(dòng)AGV的總體設(shè)計(jì);針對(duì)Mecanum輪的運(yùn)動(dòng)和結(jié)構(gòu)特點(diǎn),開展了AGV車架懸掛結(jié)構(gòu)設(shè)計(jì)及AGV傳動(dòng)系統(tǒng)方案的優(yōu)化設(shè)計(jì),提出了一種三點(diǎn)平衡式懸架結(jié)構(gòu),前懸架采用非獨(dú)立懸掛結(jié)構(gòu),以中心點(diǎn)為支撐,具有左右偏擺功能;后懸架采用獨(dú)立懸掛,具有繞支撐點(diǎn)上下擺動(dòng)功能。不但滿足了AGV全方位運(yùn)動(dòng)的要求,同時(shí),還具有平穩(wěn)性好、減震效果佳的目標(biāo)。然后,本文建立了采用Mecanum四輪驅(qū)動(dòng)模式的AGV的運(yùn)動(dòng)學(xué)模型,研發(fā)了全方位移動(dòng)的PID控制算法,并利用MATLAB軟件對(duì)控制算法進(jìn)行了數(shù)字模擬仿真;完成了基于UC/OS-II操作系統(tǒng)完成了實(shí)時(shí)多任務(wù)控制單元的開發(fā);結(jié)合實(shí)際應(yīng)用需求,完成了電氣系統(tǒng)、移載平臺(tái)開發(fā)設(shè)計(jì)。最后,在前期研發(fā)工作的基礎(chǔ)上,完成了自主研制的視覺導(dǎo)引的全方位移動(dòng)AGV小車的研發(fā),并進(jìn)行了功能測試和核心技術(shù)指標(biāo)實(shí)驗(yàn)驗(yàn)證,實(shí)驗(yàn)結(jié)果表明本文提出的總體技術(shù)方案和控制算法是有效的、可行的,AGV具有全方位移動(dòng)功能,運(yùn)行平穩(wěn)、路徑跟蹤精度高。
[Abstract]:Automated Guided Vehicle (AGV) plays a more and more important role in the automatic material handling system. The omnidirectional mobile AGV is a kind of automatic transport car with many functions, such as forward, back, translation and rotation. The research aim of this paper is to use visual guidance technology and use Mecanum wheel as the driving wheel. It has intelligent, flexible, reliable and stable omni-directional mobile AGV to meet the needs of an increasingly developing automated material delivery system. Firstly, this paper has analyzed the application requirements of AGV system in all walks of life, combined with the motion characteristics of the Mecanum wheel, and completed the overall design of the omni-directional mobile AGV with visual guidance. According to the movement and structure characteristics of Mecanum wheel, the design of the suspension structure of AGV frame and the optimal design of the AGV transmission system are carried out. A three point balanced suspension structure is proposed. The front suspension adopts the non independent suspension structure, with the center point as the support and the left and right pendulum functions. The rear suspension adopts the independent suspension and has the swing up and down around the support point. The function not only meets the requirements of the AGV omni-directional movement, but also has the target of good stability and good damping effect. Then, this paper establishes a kinematic model of AGV using Mecanum four wheel drive mode, develops a PID control algorithm of omni-directional movement, and uses the soft parts of MATLAB to simulate the control algorithm. Based on the UC/OS-II operating system, the real time multi task control unit is developed, and the development and design of the electric system and the platform are completed. Finally, on the basis of the previous research and development work, the research and development of the omni-directional mobile AGV car developed by the autonomous development is completed, and the function test and the core technology are carried out. The experimental results show that the overall technical scheme and control algorithm proposed in this paper are effective and feasible. The AGV has the function of omni-directional movement, running smoothly and the path tracking precision is high.

【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：1818687