Title :
Design and development of an automated guided vehicle
Author :
Kaloutsakis, Georgios ; Tsourveloudis, Nikos ; Spanoudakis, Polyhronis
Author_Institution :
Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA
Abstract :
This paper reports on the development of the automated guided vehicle (AGV) Hellenak that it is manufactured at the Machine Tools Laboratory of the Technical University of Crete. It has been designed with the use of parametric technology. The size of the model was 1.2 meters long and 0.7 meter wide. Vehicle´s load capacity is 200 Kg and volume capacity exceeds the 1 m3. Hellenak has a four wheel kinematics architecture (two powered wheels and two castors). A PC on board using Microsoft Windows operating system is controlling the vehicle. It can be controlled via Ethernet link from a remote terminal. Currently, it is equipped with two odometers and seven optic-electrical distance sensors, two digital cameras, four analog outputs, fourteen analog inputs and many digital inputs-outputs. Hellenak is able to move straight, make turns and spin around it´s center of movement, even when loaded. A real time path-planning algorithm has been created to test the motion accuracy of the vehicle under development.
Keywords :
automatic guided vehicles; control engineering computing; local area networks; mobile robots; operating systems (computers); path planning; robot kinematics; telerobotics; 0.7 m; 1.2 m; 200 kg; Ethernet; Hellenak; Microsoft Windows operating system; Technical University of Crete; automated guided vehicle; digital cameras; finite element analysis; graphical user interfaces; machine tools laboratory; mobile robots; odometers; optic-electrical distance sensors; path planning; robot kinematics; vehicle load capacity; Kinematics; Laboratories; Machine tools; Manufacturing automation; Operating systems; Optical sensors; Power system modeling; Pulp manufacturing; Vehicles; Wheels;
Conference_Titel :
Industrial Technology, 2003 IEEE International Conference on
Print_ISBN :
0-7803-7852-0
DOI :
10.1109/ICIT.2003.1290796