一种带机械臂的自动导引物流平台的设计

Design of an Automatic Guided Logistics Platform with Robotic Arm

为了解决离散型制造业物料搬运困难的问题,改进现阶段广泛使用的AGV轨道式运行方式,设计了一种带机械臂的自动导引物流平台。采用双主动轮差分驱动结构,结合机械臂及托盘抓手增加平台物料抓取功能;运用运动学知识,分析平台运动特性;结合Dijkstra算法设计系统导航运行逻辑,并在MATLAB平台上实现路径仿真。实验结果演示与预想吻合。该自主导引物流平台通过结合轮式移动机器人与机械臂的特点,增加了物料抓取与自主运行的功能,设计方案具有可行性。

In order to solve the material handling problem of the discrete manufacturing and to improve the orbiting mode which is widely used in the AGV at present, an automatic guided logistics platform with robotic arm was designed. With the dual capstan drive differential structure,combined with the robotic arm and tray gripper, the platform material fetching function was increased. Platform motion characteristics was analyzed by using kinematics knowledge. The navigation system operation logic was designed with Dijkstra algorithm and the simulation path was achieved on the platform of Matlab. The experimental results demonstrated that it was consistent with the expected results. By combining the characteristics of the wheeled mobile robot and robotic arm, the autonomous guided logistics platform increased material grasping and autonomous operation function,the design scheme was feasible.