Research On The Design And Path Planning Of Suspended Warehouse And Handling Robot

In order to accomodate to the complex storage and operation environment,reduce the intensity of artificial operation,and improve the utilization rate of storage space,the suspended warehouse and handling robot,which can complete the system storage transportation task independently is designed.And so as to meet the logistics enterprises of light load,flexible and efficient transport demand,the path dynamic programming of mult-handling robots system is achieved.The main work is as follows:According to the application scheme of the suspended warehouse and handling robot,the overall design scheme and technical parameters of the warehouse and handling robot system are determined.To achieve the overall design scheme,the work flow and path planning objectives of the carrying robot are analyzed,a high-precision moving position system suitable for suspension track is selected,and a planning strategy for dynamically searching the moving path of the carrying robot is proposed.Using the method of modular design,the structure of handling robot is decomposed functionally.To achieve the function,it can be divided into walking mechanism,lifting mechanism,clamping mechanism,and suspension rail system.The working principle and structural parameters of each mechanism module are analyzed and calculated,and the structure model of suspended warehouse and handling robot is created by CREO.Designing a dynamically improved Dijkstra algorithm,which can update the robot traveling path,and a mathematical model of multi-objective path planning is established.The dynamic improved algorithm is used to plan the driving paths of multiple moving robots,and the conflict resolution strategy is developed to avoid the collision.The path planning simulation of warehouse and handling robot is completed by MATLAB,which verifies the effectiveness of multi-objective path planning mathematical model and dynamically improved Dijkstra algorithm,and also provides an effective method to solve the path planning problem of multi-handling robot system.Figure 53;Table 20;Reference 57...