Research On Structure Design And Motion Control Of Forklift AGV

With the in-depth and extensive development of factory automation,the robot industry has become the focus of attention.As an important branch of robot industry,automatic guided vehicle has become a research hotspot on its intelligence and automatic performance.Based on the purpose of auxiliary material transportation in cigarette factory,the forklift AGV is studied on its structural design,path planning and motion control in this thesis.The main research contents are as follows:(1)Aiming at the auxiliary material transportation in the rolling and packing workshop of cigarette factory,the structure of the forklift AGV is wholly designed and key parts is selected,the feasibility of the designed structure is verified by static analysis and modal analysis.(2)Based on the designed forklift AGV,the overall working path in the rolling and packing workshop is studied,and the operation capacity is analyzed.Firstly,the kinematic model of AGV is established,and the method for calculating roadway width of the AGV route is given.Then,the working path between different stations is designed according to the actual layout of the workshop;Then,according to the delivery capacity of auxiliary materials,the quantity of AGV required by the workshop is calculated;Finally,the calculated quantity of AGV bashed on the given layout is verified to be feasible through Flexsim simulation.(3)The path tracking and path planning of the fork AGV is studied.Based on the model predictive control method,path tracking of AGV along reference path is studied,and a algorithm for producing the real tracking points in real time along reference path is proposed,and proved be feasible.At the same time,when the deviation from the reference path is large,a path planning algorithm based on cubic B-spline curve is proposed,so that AGV can return to the reference path in the shortest distance under the constraint of minimum turning radius.(4)The forklift AGV experiment platform is built,and the proposed path tracking algorithm based on model predictive control is verified to be feasible throuth experiments.The path tracking experiments is carried out with different initial deviations,as well as different paths such as straight line and arc.The experiment results verify the feasibility and stability of the algorithm.Finally,a complete AGV path tracking experiment is carried out along the given working path,And also proved the feasibility and stability of the algorithm.