Mechatronic System Using a Straight-Line Motion Mechanism for AGV Application

摘要

This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. It is applied in an internal materials movement system using autonomous guided vehicles (AGVs) for supporting logistics processes along the supply chain, aiming to replace the current manual operations. The proposed mechanism, analyzed regarding its kinetic and kinematic aspects using SolidWorks Motion, allows the system to discard electric current during motion and to be actuated when docked in the reception station using a linear solenoid. Additionally, the proposed mechanism can be attached below each trolley level's base, occupying minimal space and avoiding interference with larger Returnable Packages handling motions. Furthermore, it can be used in similar applications where a small-occupied volume mechanism is necessary and primarily, where a straight-line motion is required using a passive actuator to perform one of the motions. The mechanical and electrical application requirements are identified along with the modelling phases of the mechanism. The electrical diagram is defined and a compression spring and a linear solenoid were selected using kinematic and kinetic simulation with CAD/CAE software Solidworks.