CAJ | 학술논문

随着 AGV 机器人的广泛发展和应用,实际工况中 AGV 机器人工作空间轨迹规划问题日趋突出,AGV 机器人的运动学分析变得日益重要。基于单驱单向 AGV 机器人的构型特点,运用车轮差速转弯原理和 ADAMS 仿真,对单驱单向 AGV 机器人分别进行了运动学分析及仿真。通过对比机器人理论分析和仿真的最小转弯半径的偏差,验证了运动学理论分析和 ADAMS 仿真的正确性及合理性。在AGV 机器人的理论研究、结构设计和工作空间轨迹规划等方面有重要参考价值。
수착 AGV 궤기인적엄범발전화응용,실제공황중 AGV 궤기인공작공간궤적규화문제일추돌출,AGV 궤기인적운동학분석변득일익중요。기우단구단향 AGV 궤기인적구형특점,운용차륜차속전만원리화 ADAMS 방진,대단구단향 AGV 궤기인분별진행료운동학분석급방진。통과대비궤기인이론분석화방진적최소전만반경적편차,험증료운동학이론분석화 ADAMS 방진적정학성급합이성。재AGV 궤기인적이론연구、결구설계화공작공간궤적규화등방면유중요삼고개치。
With the extensive development and application of AGV (Automated Guided Vehicle)robots.In practice, AGV robots working space trajectory planning problems have become more prominent.The kinematics analysis of AGV ro-bot is becoming increasingly important.Based on single-drive and single-direction AGV robot configuration features,using wheel differential turning principle and ADAMS analyzes and simulates kinematics of single-drive and single-direction AGV robot respectively.The deviation between the theory analysis and simulation of minimum turning radius of the robot is very small,and it verifies that the correctness and rationality of the kinematics theory analysis and ADAMS simulation.This pa-per has important reference value in the theory study,structure design and working space trajectory planning of AGV robot.