Design of a Novel Self-Balancing Mechanism on AGV for Stable Stair Climbing

摘要

Task space beyond 2D planes brings challenges to the traditional automated guided vehicle (AGV) on goods delivery. In this paper, a novel self-balancing platform is designed for the stable stair climbing of AGV. While the AGV is moving in a constructional site, this mechanism enhances the AGV to handle heavy payload or even carry another operating robot, through keeping them horizontal to the ground over time. In the design, the two degree-of-freedom (DOF) of this mechanism allows the platform to rotate around two mutually perpendicular axes. The rotation ranges are [-15°, 15°] and [0°, 40°], respectively. Through the feedback of an inertial measurement unit (IMU), the self-balancing control can be achieved. The demonstration show that the workspace not only allows the mechanism to reduce the vibration acting on the carried goods when the AGV is driving on uneven terrain but also allows the platform to maintain the center of gravity (CG) while the AGV is climbing.