Automated guided vehicles (AGVs) are robots that are able to move along predetermined routes without human intervention. These vehicles are typically used in manufacturing industries and warehouses to transport materials and they are generally equipped with sensors, cameras and navigation technologies to enable autonomous movement from point to point. The use of these devices in different industries and the existence of variations in the dimensions and weight of goods and loads as well as different navigation methods and the level of accuracy in them, have led to the design and construction of different types of them. In this thesis, the development of these equipments in the tile and ceramic industries has been studied and a widely used type of them, which is called TJV, has been examined in more detail. This device is equipped with driving and moving wheels at six points and transports the pallets using four hydraulic jacks installed on it. In the present research, at first, a sample of this device was redesigned using the Catia software, and then its movement was simulated using the Simscape Multibody of the MATLAB software in order to eva‎luate the performance of the system under different conditions. Using this movement simulation, the forces and torques created in the joints as well as the friction force between the wheels and the ground in different movement conditions have been extracted. With the amount of forces and torques on the each of joints, the stresses caused by these forces and torques have been calculated by Abaqus software, and for the main parts, the design safety factor has been calculated based on Goodman's criterion, and the working conditions and life cycle of the parts are examined using the stress-work cycle (S-N) diagram. The results show that the friction force in the driving wheels has a direct relationship with the acceleration of the TGV and its value is constant during vehicle movement at a certain speed. The forces and torques calculated in the joints are completely dependent on the type of applied components and the bearings and can be optimally selected. Also, the output of the present study can help to identify the effect of the design quality of each component on the overall performance of the AGV system. In general, it can be stated that the analysis method used in the present study makes it possible to pave a path for optimizing the design and performance of the components of AGVs and by moving in this direction, the field of improving the efficiency and reducing the operational costs of these equipments will be realized even more.

9/16/2024 12:00:00 AM

613

ME3

اميرحسين اكبريان