Development of an automatic guided vehicle using a crank mechanism

2021 ◽  
Vol 2021 (0) ◽  
pp. 1P1-K01
Author(s):  
Masahide KOBAYASHI ◽  
Towa TAKAHASHI ◽  
Yoshihisa UCHIDA
Keyword(s):  
Automatic Guided Vehicle ◽  
Crank Mechanism

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

PLC Based Sub-Assembly Station with Automated Guided Vehicle

2018 ◽  
Vol 6 (7) ◽  
pp. 256
Author(s):  
K. S. Margaret ◽  
G. Sathish Kumar ◽  
J. Narendiran ◽  
M. Raman
Keyword(s):  
Sequential Procedure ◽  
Automated Guided Vehicle ◽  
Work Station ◽  
General Methodology ◽  
Automatic Guided Vehicle ◽  
Store Room ◽  
Destination Point ◽  
Storage Bins

The aim of the project is to build an assembly station with the preventive section under the process of poke yoke system. Poke yoke is the general methodology following in industry to avoid mismatching product in assembly stations.  The main aim of this project is to avoid assembling process when the sequential procedure is not followed. The project also deals with AGV – Automatic Guided Vehicle. It automatically shifts the assembling components from store room to work station when the count of components decreases in storage bin. When the material count in the storage bins reaches the preset count it will pass signal to store room, the components will be filled manually in AGV storage bins and then the AGV is moved to the destination point (work station).

scholarly journals Coil Positioning for Wireless Power Transfer System of Automatic Guided Vehicle Based on Magnetic Sensing

Sensors ◽  
2020 ◽  
Vol 20 (18) ◽  
pp. 5304
Author(s):  
Ce Liang ◽  
Yanchi Zhang ◽  
Zhonggang Li ◽  
Feng Yuan ◽  
Guang Yang ◽  
...  
Keyword(s):  
Magnetic Flux ◽  
Data Fusion ◽  
Flux Density ◽  
Sensor Array ◽  
Wireless Power Transfer ◽  
Magnetic Flux Density ◽  
Power Transfer ◽  
Wireless Power ◽  
Automatic Guided Vehicle ◽  
Receiving Coil

As an auxiliary function of the wireless power transfer (WPT) system, coil positioning can solve the power and efficiency degradation during power transmission caused by misalignment of the magnetic coupler. In this paper, a Hall sensor array is used to measure the change of magnetic flux density. By comparing the multisensor data fusion results with the preset data obtained from the coil alignment, the real-time accurate positioning of the receiving coil can be realized. Firstly, the positioning model of the receiving coil is built and the variation of magnetic flux density with the coil misalignment is analyzed. Secondly, the arrangement of the Planar 8-direction symmetric sensor array and the positioning algorithm based on data fusion of magnetic flux density variations are proposed. In order to avoid coil positioning misalignment caused by the unstable magnetic field distribution which is actually affected by the change of mutual inductance during automatic guided vehicle (AGV) alignment, the constant current strategy of primary and secondary sides is proposed. Finally, the coil positioning experimental platform is built. The experimental results show that the coil positioning method proposed in this paper has high accuracy, and the positioning error is within 4 cm.

scholarly journals Hybrid Optimization Based Mathematical Procedure for Dimensional Synthesis of Slider-Crank Linkage

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1581
Author(s):  
Alfonso Hernández ◽  
Aitor Muñoyerro ◽  
Mónica Urízar ◽  
Enrique Amezua
Keyword(s):  
Genetic Algorithm ◽  
Fitness Function ◽  
Linear Equations ◽  
Optimization Procedure ◽  
Optimization Techniques ◽  
Dimensional Synthesis ◽  
Hybrid Strategy ◽  
Dimensional Parameters ◽  
Optimization Methodology ◽  
Crank Mechanism

In this paper, an optimization procedure for path generation synthesis of the slider-crank mechanism will be presented. The proposed approach is based on a hybrid strategy, mixing local and global optimization techniques. Regarding the local optimization scheme, based on the null gradient condition, a novel methodology to solve the resulting non-linear equations is developed. The solving procedure consists of decoupling two subsystems of equations which can be solved separately and following an iterative process. In relation to the global technique, a multi-start method based on a genetic algorithm is implemented. The fitness function incorporated in the genetic algorithm will take as arguments the set of dimensional parameters of the slider-crank mechanism. Several illustrative examples will prove the validity of the proposed optimization methodology, in some cases achieving an even better result compared to mechanisms with a higher number of dimensional parameters, such as the four-bar mechanism or the Watt’s mechanism.

Efficient Balancing Optimization of a Simplified Slider-Crank Mechanism

2020 ◽  
Author(s):  
Maria T. Orvananos-Guerrero ◽  
Mario Acevedo ◽  
Claudia N. Sanchez ◽  
Nicola Ivan Giannoccaro ◽  
Paolo Visconti ◽  
...  
Keyword(s):  
Crank Mechanism
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