机械5

自动装卸AGV设计 摘要 本次设计为解决当下国内外AGV小车价格高居不下及其并不适合基础工业不完善的我国的问题，并且目前大部分AGV采用电磁或轨道引导，路线固定，局限性较大，不适用于柔性化制造系统。 为解决上述问题，在目前AGV的基础上，创新性的使用机械手联动的的装卸方式，避免了为了满足各工况需求而覆盖的各种移载机构，驱动模式和导引方式，降低了成本。同时又不同于AGC需要完善的基础设施配合，三只灵巧机械手足够完成装卸工作，极大地发挥了AGV本身的自主性和工作容积。搭配四个麦克纳姆轮极大地缩小了转向半径可在更狭小空间内作业。同时仿照无人驾驶汽车运行原理采用激光测距雷达配接近传感器能够满足各种复杂路径的使用要求，自动化程度更高。同时定位精度主要由雷达的精度决定，便于用户灵活调整型号以适应场所并控制成本（定位精度为±10mm到±5mm）。 关键词：AGV；工业机器人；物流搬运；无人驾驶技术 ABSTRACT The graduatio
n desig
n i
n order to solve the prese
nt high prices for AGV car at home a
nd abroad a
nd is
not suitable for basic i
ndustry is
not perfect i
n our cou
ntry, a
nd at prese
nt most of the AGV by electromag
netic or track guide, fixed route, limitatio
ns, is
not suitable for the flexible ma
nufacturi
ng system. To solve the above problems, o
n the basis of the AGV, the use of i
n
novative way of loadi
ng a
nd u
nloadi
ng ma
nipulator li
nkage, avoided i
n order to meet the dema
nd of worki
ng co
nditio
n of the i
nstitutio
n, a
nd cover a variety of tra
nsfer of drivi
ng mode a
nd direct way, reduce the cost. At the same time, it is differe
nt from the basic facilities that AGC
needs to perfect, a
nd the three dexterous ma
nipulators are e
nough to complete the loadi
ng a
nd u
nloadi
ng work, which greatly exerts the auto
nomy a
nd worki
ng capacity of AGV itself. With four McNams, the steeri
ng radius is greatly reduced to work i
n smaller Spaces. At the same time, the operatio
n pri
nciple of the self-drivi
ng car adopts laser ra
ngi
ng radar a
nd proximity se
nsors to meet the requireme
nts of various complex paths, a
nd the automatio
n level is higher. At the same time, the positio
ni
ng accuracy is mai
nly determi
ned by the accuracy of the radar, so that the user ca
n adjust the model flexibly to fit the site a
nd co
ntrol the cost (the positio
ni
ng accuracy is plus or mi
nus 10mm to plus or mi
nus 5mm). Key Words：AGV ;I
ndustrial robots; Logistics tra
nsport; U
nma
n
ned tech
nology 目录 1.绪论1 1.1 AGV概述1 1.2背景技术1 1.3国内外机械能越障小车的发展概况1 2.机械结构设计2 2.1自动装卸AGV技术参数2 2.2直流伺服电动机的选择2 3.控制系统的设计9 3.1控制系统总体方案9 3.2电机驱动芯片的选择9 4.运动学分析12 4.1单个轮子动力学模型12 4.2运动学方程13 5.系统的拓展15 5.1软件结构15 5.2基于行为的软件特征15 5.3行为选择15 5.4 AGV环境中的行为与选择机制16 6.定位与导航17 6.1定位17 6.2概率定位17 6.3 AGV的可信度18 6.4坐标系21 6.5导航功能21 7.机械手设计25 7.1机械手腕部设计25 7.2自由度计算25 8. AGV路径仿真28 9.结论30 参考文献31 致谢32 附录1：外文译文33 附录2：外文原文36