Design and kinematics analysis of AGV with unilateral climbing rack in the roadway

To improve the speed of intelligent transformation of warehousing and logistics, a unilateral climbing shelf-type AGV in warehouse aisles is proposed. The modular design is adopted, and the crawling drive module, the cargo module, and the telescopic rotating arm are combined to form an AGV that can walk in all directions on the ground, climb, and traverse along the shelf track to complete the storage and retrieval operations. After the scheme is determined, 3D modeling is carried out through SliodWorks, performing static stress analysis on key stressed components. The kinematic model of the transition stage between ground and climbing is established by analytical method, and the kinematics simulation of the transition stage is completed in the SliodWorks Motion module. The results show that the movement speed curve of the cargo module is smooth, and there is no rigid impact. The Lagrangian dynamics equation is established for the transition process of AGV ground and climb, which provides a theoretical basis for control design. The overall structure of the AGV is reasonable, and the transition stage between the ground and the climb runs smoothly, meeting the design requirements.