摘要
设计了一款用于智能焊接车间的自动导引运输车(AGV)。运用SolidWorks软件进行三维建模,建立了差速驱动AGV的运动学方程,并运用Simulink搭建了运动学模型。在V-REP(virtual robot experimentation platform)软件中建立了AGV虚拟样机,Matlab通过远程API,控制AGV在V-REP中进行仿真,通过AGV理论计算和仿真结果的对比,验证了运动学理论分析的正确性,对AGV的控制具有一定的参考价值,为AGV控制系统的设计提供了依据。
An automated guided vehicle(AGV)is designed for intelligent welding workshop.Using SolidWorks software for 3D modeling,the kinematics equations of the differentially driven AGV are established,and the kinematics model is built with Simulink.The virtual prototype of AGV is built in V-REP(Virtual robot experimentation platform).Matlab controls AGV to simulate in V-REP through the remote API.Through the comparison of AGV theoretical calculation and simulation results,the correctness of the kinematic theoretical analysis is verified,which has a certain reference value for AGV control and provides a basis for the design of the AGV control system.
作者
白自强
韩秋实
BAI Ziqiang;HAN Qiushi(Mechanical Electrical Engineering School,Beijing Information Science&Technology University,Beijing 100192,China)
出处
《北京信息科技大学学报（自然科学版）》
2020年第3期80-84,88,共6页
Journal of Beijing Information Science and Technology University
