| 潜入牵引式自动导引车运动特性分析 |
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| 引用本文： | 钱晓明,吴斌,武星,楼佩煌.潜入牵引式自动导引车运动特性分析[J].农业机械学报,2015,46(2):294-300. |
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| 作者姓名： | 钱晓明 吴斌 武星 楼佩煌 |
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| 作者单位： | 南京航空航天大学,南京航空航天大学,南京航空航天大学,南京航空航天大学 |
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| 基金项目： | 国家自然科学基金资助项目(61105114)、江苏省科技支撑计划资助项目(BE2010189)和中央高校基本科研业务费专项资金资助项目(NS2014052) |
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| 摘 要： | 与驱动单元和车体刚性连接的传统结构及拖车结构不同,潜入牵引式自动导引车的驱动单元置于车体底部与车体柔性连接。针对车体的运动轨迹问题,建立了车体与所跟踪路径的位姿关系模型,根据车体的几何尺寸及所跟踪圆弧路径的圆心角和半径,推导出车体在世界坐标系中的位姿状态及保证纯滚动运动的最小转弯半径。针对车体负载运行的行驶性能问题,建立车体的动力学模型,求出忽略侧向力影响的条件,推导出车体的角加速度。车体位姿实验证明了所建车体运动学模型的正确性。动力特性实验表明,该种结构的自动导引车行驶稳定性较好。
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| 关 键 词： | 自动导引车 驱动单元 潜入牵引 运动学 动力特性 |
| 收稿时间： | 2014/1/13 0:00:00 |
Trajectory Properties of Automated Guided Vehicle with Sneak Traction |
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| Qian Xiaoming,Wu Bin,Wu Xing and Lou Peihuang.Trajectory Properties of Automated Guided Vehicle with Sneak Traction[J].Transactions of the Chinese Society of Agricultural Machinery,2015,46(2):294-300. |
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| Authors: | Qian Xiaoming Wu Bin Wu Xing and Lou Peihuang |
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| Institution: | Nanjing University of Aeronautics and Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing University of Aeronautics and Astronautics and Nanjing University of Aeronautics and Astronautics |
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| Abstract: | 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. |
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| Keywords: | Automated guided vehicle Drive unit Sneak traction Kinematics Dynamic property |
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