Research On Transmission Models And Path Planning For Modular Transmission Platform

In recent years,many traditional manufacturing enterprises are gradually developing towards digitalisation,networking and intelligence in order to achieve the goal of improving quality and increasing efficiency.However,it is not enough to focus on the production efficiency of enterprises,but how to efficiently and conveniently store,transport and distribute large quantities of goods through social logistics should be given sufficient attention,which also places higher demands on today’s logistics transmission equipment.The traditional material transmission equipments in warehouse centers usually have the disadvantages of a single transfer line and direction,difficult path adjustment,limited size of the transferred goods,inconvenient maintenance,etc.,and their flexibility and environmental adaptability are not high.In order to solve the above problems,this thesis designs a modular material transmission platform and conducts a series of studies on its transmission model and path planning.The platform as a whole has modular and honeycomb structure characteristics,which can be spliced and expanded according to actual needs;the upper computer can complete the path planning of material transmission,and real-time monitoring and mapping of the material transmission trajectory through the vision system;based on the layout form of continuous switching wheel system,the generic material transmission model is analysed,allowing different sizes of material to be transmitted on the platform;an improved ant colony system algorithm with potential field is used to complete the path planning of material transmission.The main points of this article are as follows.(1)The overall scheme design of the modular material transmission platform was carried out.The overall layout of the transfer system is analysed,the mechanical structure of the platform is designed according to the functional requirements,and the position and role of the platform in the transfer system is considered;a combined vision processing method of target template map determination and barcode recognition is used to obtain the basic information of the transferred material and ensure the accuracy and speed of target extraction;a QT-based upper computer interface is designed to allow for good human-computer interaction on the platform.(2)A generic transfer model for different sizes of material under a continuously switching wheel system is developed and simulated.Based on the three-wheel model,several important parameters are introduced to derive a generic kinematic model applicable to the transmission of variable-size materials to ensure the accuracy of transmission;according to the Newton-Euler dynamics principle,a generic kinetic model is established under continuous switching of multiple wheel systems to ensure the smoothness of transmission;the transmission trajectories and speeds of different-size materials are analysed through simulation to verify the the rationality of the proposed generic transport model.(3)An improved ant colony system algorithm with potential field is designed for path planning of materials by analysing commonly used path planning algorithms and for the characteristics of this platform.The traditional ant colony algorithm is improved by optimising the heuristic function and adopting a factor adaptive update strategy;the traditional artificial potential field method is improved by introducing a distance adjustment factor and fuzzy repulsion points;the inflection points in the global path are used as sub-target points in the local path,and the improved ant colony system algorithm with potential field is designed and analysed in simulation.(4)A prototype of the experimental platform was built and relevant typical experiments were designed to verify the transmission trajectory,transmission speed and path planning of materials of different sizes.The experimental data during the material transmission process is recorded and evaluated for compliance with the expected values,the possible causes of errors are analysed and the reliability and stability of the platform is evaluated.This project is oriented towards a modular material transmission platform.The main tasks include the design of its overall structure,the determination of the vision system solution,the design of the upper computer interface,the establishment of a common transmission model,the improvement of the path planning algorithm and the construction of the experimental prototype.The results of simulation and experiment show that the different sizes of material can be stably transported to the vicinity of the target by the optimal path,which verifies the rationality of the proposed generic transmission model and the effectiveness of the improved ant colony system algorithm with potential field,as well as the excellent performance and stability of the modular material transmission platform.