Wheel Design and Motion Analysis of a Heavy-Duty Material Handling Robot

摘要

With the proposal of “Made in China 2025”, China's robot research and development technology has been developed by leaps and bounds, and mobile robots have received wide attention. In this paper, firstly, a drive form of heavy-duty material handling robot, i.e., four-drive steering structure (4DSW), is proposed. Secondly, the kinematic model of the heavy-duty mobile robot is derived. Finally, the kinematic simulation of the robot is analyzed based on Adams software to verify the accuracy of the kinematic model. The simulation results show that the motion error of the heavy-duty mobile robot is less than 30mm, and the kinematics performance is good enough to meet the usage requirements. The research content of this paper provides relevant theoretical basis for the development of mobile robots and promotes the development of intelligent manufacturing field.