Traction Analysis of AGV ②How to Determine the Most Economic

Traction Analysis of AGV ②_How to Determine the Most Economic Acceleration and Deceleration

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        In the article "AGV motor drive current setting skills", we have explored the peak current of the drive most of the rated current 2-3 times; at the same time, in the article "CFR brand MRT20. rudder wheels in the automotive assembly line application case," we can see that the peak torque of the drive wheel is about 2 times the rated torque. Because of the limitations of the key parameters of the two key components of the power source mentioned above, the actual acceleration and deceleration size is not arbitrarily increased, as we illustrate in the following example from the previous issue.
        As shown in the figure below, there is a 1T heavy AGV trolley, the center of gravity is in the geometric centre of the vehicle body, the wheel system layout as shown in the figure, assuming that each wheel carries 1/3 of the weight of the vehicle, the rated speed and the maximum speed of 1m/s, the sliding friction coefficient of all the wheels and the ground is 0.2, and the rolling friction coefficient is 0.02. When the acceleration is 0.2m/s², 0.4m/s², and 0.8m/s² respectively, what is the traction force on the driving wheels? What are the respective traction forces?

        Firstly we have to calculate the maximum traction force and the uniform traction force that the AGV trolley can provide:

F slip 0.2=/3*10*0.2=666N

F uniform = *10*0.02=200N

When the acceleration is at 0.2m/s²:

F0.2=*0.2=200+200=400N

When the acceleration is at 0.4m/s²:

F0.4=*0.4=400+200=600N

When the acceleration is at 0.8m/s²:

F0.8=*0.8=800+200=N

         First of all, we in the drive wheel and drive selection, the first consideration is the conditions required for uniform speed operation, in the actual engineering design, we usually choose the theoretical calculation of the value of 1.5 times as the basis for the selection, then, in the above example, we usually choose the traction force of 300N (200 * 1.5) of the drive wheel, if in accordance with the wheel overloaded by 2 times as a reference, then it can provide the peak traction force of 600N. In this scenario, an acceleration of up to 0.4m/s² can only be met, and although it is feasible to select a bias load or use a wheel with a higher coefficient of friction, it is necessary to simultaneously increase its driving power in order to actually drive the vehicle. Therefore, the option of running with a maximum acceleration and deceleration of 0.4m/s² is the most economical choice, and any other option may involve an increase in the project cost.

        Of course, if the operation of the AGV system requires an acceleration of more than 0.4m/s² to meet the operating tempo, then the choice of larger drive wheels and drives is inevitable, and at this point the choice of rated 300N peak 600N is not appropriate, such as the project required to start the AGV vehicle with an acceleration of 0.8m/s² in order to adapt to the operating tempo, then the selection of peak A drive system with a peak traction of N becomes inevitable.

Summary:

         When receiving a project, we should understand as much as possible about the working environment, running trajectory, working rhythm, and other special conditions and requirements of the site of the AGV vehicle. Only a detailed understanding of the situation on the ground, in order to achieve the best for our project programme to provide a basic guarantee, in order to avoid us in the project design, selection, implementation, less detour.

Actual engineering design, we must master the basic parameters between the components and their mutual influence, only a comprehensive grasp of these basic data, we can flexibly use in the project, and ultimately choose to meet the requirements of the project, but also energy saving and cost reduction of the best programme.

         Although the static load is a relatively stable data for analysis and judgement, but the AGV vehicle is working in the dynamic load changes at all times, due to the layout of the wheel system, suspension structure and performance, the size of the body inertia, turning radius, acceleration and deceleration of the size of the ground level and gradient and other variations. Specific problems in the work of specific analysis is the most important, please do not simply apply or out of context some of the content of the text as your reference.

In this article, I answer to this question: What are the automated guided vehicles? and I explain topics like how do they navigate, how much do they cost, where are they used, the types of robots, safety, etc.

If you have a particular interest in a specific topic, you will find different links leading to articles and whitepapers that go into great detail about that subject.

My name is Alfredo Pastor... I've sold and installed hundreds of agvs from different suppliers. I simply love ❤️ the way they improve productivity and safety. Here's my experience with these outstanding systems.

Automated Guided Vehicles (AGVs) are versatile machines designed to transport various types of materials automatically.

The history of AGVs dates back to the s when the first AGV, essentially a tow truck following a wire embedded in the floor, was introduced by Barrett Electronics in Illinois.

Since then... many things have happened.