摘要
为解决自主导航车(automated guided vehicle,AGV)难以实现在不同楼层间自主物流运输的问题,设计、制作一种配备智能机械臂的AGV。根据其需求完成了总体方案设计、机械结构设计、运动控制模块和按钮识别模块的硬件搭建与软件设计,进行机械臂的运动学分析,并利用所制作的样机进行电梯按钮自动识别与按压功能实验。实验结果表明:该AGV能根据乘坐电梯上下楼的需要,进行电梯按钮的自动识别与按压任务,具有广阔的应用前景。
To solve the problem that the existing automated guided vehicle （AGV） is limited to the same floor of the logistics transportation, difficult to realize the different floors independent logistics transportation, an AGV equipped with an intelligent manipulator is designed and produced. To meet the working requirements, completes the overall plan design, the mechanical structure design, the movement control, and the button recognition＇s hardware construction and the software design, the manipulator＇s kinematic analysis is carried out, make a prototype and complete the experiment of automatic recognition and pressing function of the elevator button. The experimental results show that the AGV can be used to automatically recognize and press the elevator button according to the need to take the elevator up and down the stairs, and has a broad application prospect.
作者
刘佳耀
袁佳艳
陶卫军
米继锋
Liu Jiayao Yuan Jiayan Tao Weijun Mi Jifeng(School of Mechanical Engineering, Nanjing University of Science ＆ Technology, Nanjing 210094, China Hanjiang Machine Tool Co., LTD., Hanzhong 723003, China)
出处
《兵工自动化》
2016年第10期38-41,共4页
Ordnance Industry Automation
基金
国家自然科学基金资助项目(51275244)
关键词
AGV
物流运输
机械臂
谐波减速器
运动学分析
AGV
logistics transportation
manipulator
harmonic reducer
kinematic analysis
