Research on Coordinated Path Following of Wheeled Materials Tugger Tain System
Due to the narrowness of the factory production area channels,the space for materials tugger tain to pass is limited.When the materials tugger tain system is in operation,it is necessary to pursue not only efficiency in terms of pace,but also the proximity of the rear vehicle's trajectory to the front vehicle's trajectory.Taking Geely's self-developed wheeled materials tugger tain as the research object,the wheel structure of the vehicle is simplified and its kinematics are analyzed.A virtual prototype is established in ADAMS for dynamic analysis and simulation.The analysis focuses on whether the foot wheels of the vehicle satisfy the Ackermann principle under the action of the bot-tom linkage.Then,the parameters of each linkage are designed and optimized using the average method and the root mean square method to obtain the optimal dimensions.The goal is to make the optimized dimensions satisfy the Ackermann principle,improve the passing ability of wheeled materials tugger tain in narrow channels,and provide a basis for improving factory efficiency.
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