Design and error compensation of active mechanically automated guided vehicle

Abstract

To reduce the navigation control cost, this paper proposes a mechanical guidance control scheme that uses a cam-link mechanism as a steering control mechanism for an automated guided vehicle with a fixed driving path. According to the steering principle, a mathematical model of the steering system and the driving trajectory are established. By setting the boundary conditions, the vehicle trajectory is modeled using a quintic polynomial. The contour of the directional control cam is obtained based on the equation of the vehicle trajectory. Because errors occur in actual machining and assembly processes, errors will be classified based on their impact on the trajectory. The effects of various errors on the trajectory are quantitatively determined by using simulation methods with different parameters. Furthermore, an error compensation approach is designed to reduce the influence of the error on the trajectory directly or indirectly. Finally, experiment results illustrate that the adjustment accuracy of the proposed automated guided vehicle trajectory is 2 mm.

Keywords

• mechanically guided trajectory
• automated guided vehicle
• cam curve algorithm
• error compensation
• cam link mechanism