单驱单向 AGV 机器人运动学分析及仿真∗

摘要

随着 AGV 机器人的广泛发展和应用,实际工况中 AGV 机器人工作空间轨迹规划问题日趋突出,AGV 机器人的运动学分析变得日益重要。基于单驱单向 AGV 机器人的构型特点,运用车轮差速转弯原理和 ADAMS 仿真,对单驱单向 AGV 机器人分别进行了运动学分析及仿真。通过对比机器人理论分析和仿真的最小转弯半径的偏差,验证了运动学理论分析和 ADAMS 仿真的正确性及合理性。在AGV 机器人的理论研究、结构设计和工作空间轨迹规划等方面有重要参考价值。%With the extensive development and application of AGV (Automated Guided Vehicle)robots.In practice, AGV robots working space trajectory planning problems have become more prominent.The kinematics analysis of AGV ro-bot is becoming increasingly important.Based on single-drive and single-direction AGV robot configuration features,using wheel differential turning principle and ADAMS analyzes and simulates kinematics of single-drive and single-direction AGV robot respectively.The deviation between the theory analysis and simulation of minimum turning radius of the robot is very small,and it verifies that the correctness and rationality of the kinematics theory analysis and ADAMS simulation.This pa-per has important reference value in the theory study,structure design and working space trajectory planning of AGV robot.