摘要
AGV驱动轮对地面的附着性能直接决定着AGV能否有效行走,同时也影响着对其运行轨迹控制性能。为了使AGV在地面凸起障碍下和凹陷障碍环境下驱动轮有足够的附着力,同时自由轮也平稳的接触在地面上,先从AGV整体结构入手,分析了整个AGV的力学模型,选取了合适的减震弹簧总体刚度。运用Adams动力学仿真软件对所设计的AGV进行了运动仿真,得到了在凸障碍下自由轮与驱动轮的位移曲线和在凹障碍下驱动轮的接触力曲线,验证了所设计结构的合理性。
The adhesion ability of driving wheel of AGV directly decide whether it can effective walking and affect the control performance of its trajectory at the same time.For the purpose of the driving wheel of AGV have sufficient adhesion on the road with bumps and potholes and the universal wheels can contact on the ground stably,this papers analyzed the mechanic＇s model of AGV and selected the appropriate stiffness values of spring by the structure design of AGV.Adams simulation software are used to simulate the motion of AGV,the design is validated by analyzing the displacement diagram of driving wheels by simulation of AGV motion on the road with bumps and contact forces diagram of universal wheels by simulation of AGV motion on the road with pothole.
出处
《装备制造技术》
2016年第2期13-16,共4页
Equipment Manufacturing Technology
基金
南宁市科技攻关项目南宁市科学研究与技术开发计划项目(20150337)
