【摘要】 设计了一种简单实用的测量AGV负载特性的方法,即通过测量车体的纵向倾角间接推算转弯时负载给AGV带来的附加力矩,并针对2轮差速驱动的6轮AGV的结构,进行了动力学的理论分析和推导,在AGV上进行了现场的实验研究,找出了附加力矩对操舵角的影响和相应的补偿修正系数。实验结果表明,该方法在一定程度上消除了纵向不对称负载对AGV轨迹跟踪精度的影响。更多还原

【Abstract】 A simple and practical method to measure the load of AGV(automated guided vehicle),which calculated the additional torque of the load through measuring longitudinal obliquity of AGV,was adopted.Dynamic theoretical analysis and mathematical model on a two-wheel-driven AGV have been completed.By experimental researches in working place,the compensation coefficient and the relationship between orientation angle and additional torque were obtained.The test results showed that trace tracking errors of AGV brought by longitudinal unsymmetrical loads could be eliminated to some extent by using this method.更多还原