关键词: 物料传输平台, 变尺寸物料, 通用传输模型, 路径规划, 改进势场蚁群算法

Abstract:  Most of the traditional logistics equipment had problems such as single transmission mode and difficulty in flexible adjustment of transmission lines. For the modular material transmission platform with honeycomb layout, based on the three-wheel model and Newton-Euler dynamics, general kinematics and dynamics models for the variable-size material transfer were respectively derived on the basis of the omni-directional wheel systems to ensure the accuracy and smoothness of the transfer. An IACSPF algorithm generated by fusion was used for material transmission path planning, which improved the convergence speed of the algorithm and avoided falling into local optimization. Finally, simulations and experiments were carried out to verify the transmission trajectory, speed and path planning of the different size materials. The results show that the variable-size materials may be stably transported to the vicinity of the target by the optimal path. The relative errors of trajectory and speed average are less than 4.27% and 8.33% respectively. The optimization rates of the length, time and number of turning points of the planned path are 20.77%, 55.39% and 73.33% respectively, and the safety distance is larger, which verifies the rationality of the proposed general transmission model and the effectiveness of the IACSPF algorithm.

Key words: material transmission platform, variable-size material, general transmission model, path planning, improved ant colony system with potential field(IACSPF) algorithm