摘要
针对偏心式差速驱动货叉自动导引车(Automated Guided Vehicle,AGV)在原地转向过程中出现旋转中心偏移,进而影响AGV原地转向稳定性的问题,采用动力学分析与仿真相结合的方法对差速驱动AGV原地转向稳定性进行研究。建立AGV原地转向动力学模型并对车体侧滑等现象进行分析,推导AGV原地转向稳定性的相关公式,获得影响AGV原地转向稳定性的结构参数和运动参数。通过动力学分析软件ADAMS仿真,仿真结果验证公式的精确性以及获得各参数对AGV原地转向稳定性影响规律。根据推导公式与仿真结果,获得优化的结构参数和运动参数,优化后的AGV原地转向稳定性显著提高。
In the process of pivot steering of eccentricAGV with fork based on differential drive,there was a deviation from the center of rotation which effect on the character of steering stability.The character of pivot steering stability of AGV was researched based on dynamics analysis and simulation.The pivot steering dynamics model of AGV was constructed,and the steering deflection of pivot steering of AGV,such as sideslip,was analyzed.It was derived about some relevant formulas which affecting the pivot steering stability,and some crucial parameters include the structure and motion was obtained.Based on the simulation with dynamic software(ADAMS),it was verified about the accuracy of formulas,and it was obtained about the relation between the pivot steering stability and crucial parameters.According to these formulas and simulation,optimized structure and motion parameters is obtained,and there is significantly improved about pivot steering stability of AGV.
作者
张瑞
卢林芳
王婷婷
ZHANG Rui;LU Lin-fang;WANG Ting-ting(School of Mechanical Engineering,Zhengzhou University,Henan Zhengzhou 450001,China)
出处
《机械设计与制造》
北大核心
2021年第9期140-144,149,共6页
Machinery Design & Manufacture
基金
工信部智能制造综合标准化与新模式应用项目(2017ZNZX02)。
关键词
AGV
差速驱动
原地转向
转向稳定性
仿真
优化
Differential Drive
AGV
Pivot Steering
Steering Stability
Simulation
Optimization
作者简介
张瑞,(1970-),女,河南洛阳人,博士研究生,副教授,主要研究方向:机电一体化、CAD/CAM/CAE技术及应用;卢林芳,(1993-),男,江西抚州人,硕士研究生,主要研究方向:CAD/CAM/CAE技术及应用;王婷婷,(1982-),女,河南濮阳人,博士研究生,讲师,主要研究方向:汽车总体理论与现代设计、CAD/CAM/CAE技术及应用。
