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Mechanical development of an automated guided vehicle
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Mekanisk utveckling av ett automatiskt styrt fordon (Swedish)
Abstract [en]

Automated guided vehicles (AGV) are more and more used in factories to provide a smart and adaptable material handling based on localization technologies. To use vision and path finding technologies at their full potential in these vehicles, a mechanical system able to move within a small space is required.

The purpose of this study was to develop the mechanical structure of an AGV. The structure is composed of a chassis and mecanum wheels. To satisfy the needs, the vehicle had to be able to carry heavy loads while being compact. It also had to be cheap to be competitive on the market.

Calculation models were developed to design mecanum wheels. From these models, the structure of the vehicle has been designed. The obtained solution fulfils requirements and solves some problems encountered by the previous design of the vehicle. However the prototype haven’t be fully tested due to manufacturing problems on rollers.

This study offers a strong basis to design an AGV and points out common problems related to the design of a holonomic vehicle. Furthermore, some of the solutions proposed in this study need to be tested for validation.

Abstract [sv]

Automatiskt styrda fordon, AGV, används allt mer i fabriker för att ge en smart och anpassningsbar materialhantering baseratdpå lokaliseringsteknik. För att möjliggöra användande av visions- och vägspårningsteknologi till dess rätta potential för automatiskt styrda fordon behövs ett mekaniskt system som kan röra sig på små ytor.

Syftet med studien har varit att utveckla den mekaniska strukturen till en AGV. Strukturen består av ett chassi och mecanumhjul. För att uppfylla behovet, måste fordonet kunna bära stora laster samtidigt som det ska vara kompakt. Det krävdes även att den skulle vara billig för att vara konkurrenskraftig på marknaden.

Beräkningsmodeller har tagits fram för att möjliggöra utformning av mecanumhjulen. Den hjul- och chassiutformning som tagits fram uppfyller krav som löser problem i föregående utformningar. Prototypen har dock ej blivit fullt testad på grund av tillverkningsproblem av rullarna.

Studien har givit en stark bas för utformning av AGV och pekar ut vanliga problem relaterade till utformandet av holonomiska fordon. Lösningarna som presenterats i denna studie behöver testas för att validera utformningen.

Place, publisher, year, edition, pages
2016. , 66 p.
Series
MMK2016:153 MKN171
Keyword [en]
AGV, Holonomic vehicle, Mecanum wheel, Mechanical development
Keyword [sv]
AGV, Holonomiska fordon, Mecanumhjul, Mekanisk utveckling
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-193897OAI: oai:DiVA.org:kth-193897DiVA: diva2:1034200
External cooperation
Akéo Plus
Supervisors
Examiners
Available from: 2016-10-11 Created: 2016-10-11 Last updated: 2016-10-11Bibliographically approved

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CiteExportLink to record
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Citation style
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