Trajectory properties of automated guided vehicle with sneak traction

被引：0
作者：
Qian, Xiaoming [1 ]
Wu, Bin [1 ]
Wu, Xing [1 ]
Lou, Peihuang [1 ]
机构：
[1] College of Mechanical and Electric Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2015年 / 46卷 / 02期
关键词：
Automated guided vehicle; Drive unit; Dynamic property; Kinematics; Sneak traction;
D O I：
10.6041/j.issn.1000-1298.2015.02.043
中图分类号：
学科分类号：
摘要：
The drive unit and vehicle frame of traditional automated guided vehicle (AGV) and tractor-trailer were rigid coupling. Being different form the traditional machines, the drive unit and vehicle frame of AGV with sneak traction were flexible connection and the drive unit was used to drive the vehicle frame. To solve the problem of vehicle frame trajectory, a kinematic model was built to study the relationship between position posture of vehicle frame and the tracking path. According to geometric parameters of vehicle frame and central angle and radius of circular arc path, position posture of vehicle frame in world coordinate system was deduced. To solve the problem of AGV load driving, a dynamic model of AGV frame was built. The condition ignoring the effects of lateral force was calculated and the angular acceleration of the frame was deduced. Position posture tests proved that the kinematics model of AGV frame was correct. The results of dynamic property tests proved that the driving stability of AGV with this structure was excellent. The study results can provide the basis for improving the control performance of control system. ©, 2015, Chinese Society of Agricultural Machinery. All right reserved.
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页码：294 / 300
页数：6
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