铰接摆动式AGV结构设计及运动学分析  

Structure Design and Kinematics Analysis of Articulated Swing Type AGV

作　　者：张洪 张广杰 ZHANG Hong;ZHANG Guangjie(Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment&Teachnology,Jianguan University,Wuxi,Jiangsu 214122,China;School of Mechanical Engineering,Jiangnan University,Wuxi,Jjiangsu 214122,China)

机构地区：[1]江南大学、江苏省食品先进制造装备技术重点实验室,江苏无锡214122 [2]江南大学机械工程学院,江苏无锡214122

出　　处：《轻工机械》2023年第2期72-77,共6页Light Industry Machinery

摘　　要：自动导引车AGV在行驶过程中驱动轮与地面的接触情况对其运动性能具有重要影响,为了保证AGV在复杂路面上行驶时具有足够的附着力和较好的稳定性,课题组设计了一种铰接摆动式AGV。课题组对AGV进行整体受力分析,建立了减震结构的受力模型,确定AGV在凹陷和凸起路面的减震弹簧刚度范围;运用ADAMS动力学仿真软件对AGV小车进行了运动仿真,在满负载和空负载2种情况下分析了弹簧刚度对运行稳定性的影响,选取了合适的弹簧刚度。仿真结果验证了该结构及模型的合理性。铰接摆动式结构的设计及优化可以提高AGV在地面的行驶性能。The contact situation between the driving wheel and the ground surface has important impact on its movement performance of the AGV.In order to guarantee enough adhesion and better stability of the vehicle when driving on the complex road,an articulated swing type AGV was designed.The overall stress condition of the AGV was analyzed,and the stress model of the shock absorption structure was established,the range of spring stiffness was selected for the shock absorption structure under concave and convex road surface respectively.The dynamic simulation software ADAMS was used to simulate the motion of the AGV car.The influence of different spring stifness on driving stability was analyzed under full load and no load,and the reasonable spring siffness was selected.Finally,the rationality of the structure and model was verified.The design and optimization of articulated swing structure can improve the driving performance of AGV on the road.

关 键 词：AGV 铰接摆动式 减震弹簧 ADAMS 

分 类 号：TH12[机械工程—机械设计及理论]