Design and Simulation of Heavy Load Wheeled Mobile Robot Driving Mechanism

  • Yang ZhangEmail author
  • Zhi-gang Xu
  • Song-kai Liu
  • Qing-yun Wang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


Facing with the problem of high labor intensity, low standard of automation and low production efficiency, traditional pattern of rocket cabins transportation should be eliminated. The traditional way was still unable to cope with the mixed flow of multiple series and types of rocket cabin. Hence, it is of great significance to design an AGV with good stability, good driving performance and load capacity as the transport equipment of the rocket cabin. A heavy load Omnidirectional AGV for rocket cabin transportation is proposed. A kinematic model of the AGV was set up and analyzed by the software of ADAMS (Automatic Dynamic Analysis of Mechanical Systems). Results of the ADAMS simulation indicate that the driving mechanism of the automatic guide vehicle in this study performs well in most working conditions, and the problem of “locked up” in the transverse working conditions has also been well solved. It is of great reference significance to the research of the heavy-duty automatic guided vehicle for large segment transshipment.


AGV Kinematic ADAMS Omni-directional 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Yang Zhang
    • 1
    • 2
    • 3
    Email author
  • Zhi-gang Xu
    • 1
    • 3
  • Song-kai Liu
    • 1
    • 3
  • Qing-yun Wang
    • 1
    • 2
    • 3
  1. 1.Shenyang Institute of Automation Chinese Academy of SciencesShenyangChina
  2. 2.University of Chinese Academy of SciencesBeijingChina
  3. 3.Institutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyangChina

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