Modeling and Prototype Implementation of an Automated Guided Vehicle for Smart Factories

摘要

This paper overviews the modeling, implementation, and mechanical characterization of an Automated Guided Vehicle (AGV) devoted to transport materials and tools in smart factories. The design is based on a differential-drive mobile robot configuration for which the mathematical model was obtained. Such model allows the simulation of the AGV’s motion and can be used to improve productivity, increase automation, and reduce transportation costs in industrial facilities. The prototype’s implementation was conducted with highly resistant materials and automated manufacturing processes. A finite element analysis (FEA) shows that the prototype is capable of transporting 700 kg loads without suffering any structural damage and that critical cases involving collisions might cause only minimal harm. An IoT approach has been considered for the AGV’s electronic architecture.