Open AccessDesign locomotion for automatic guided vehicles using double ackerman inverted method (2WD-4WS-1A)
Author(s) -
Karim Ali,
Budhy Setiawan,
Indrazno Siradjuddin
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1073/1/012038
Subject(s) - ackermann function , steering linkage , point (geometry) , control theory (sociology) , torque steering , trajectory , engineering , automotive engineering , turning radius , steering wheel , control engineering , computer science , control (management) , simulation , mechanical engineering , mathematics , artificial intelligence , inverse , geometry , physics , astronomy
This paper introduces a robot vehicle designed for the same forward or reverse maneuver specifications. The vehicle has two two-wheel drives with a Double Ackermann Inverted (2WD-4WS-1A) steering method for Automatic Guide Vehicle (AGV). In the batch processing system industrial estate, AGV is used for transportation in the component warehouse area. In the steering system, Ackermann’s mechanics are described as optimizing the maximum maneuvering radius of the AGV, based on the turning center point. AGV drive is designed with four wheels, two drives and one steering mechanics. The vehicle’s mechanical steering system is designed with a system geometry analysis to control the turning radius of the vehicle. The Ackermann AGV steering method that has been implemented will be tested for its maneuvers. The results of the study were measured empirically to determine the efficiency and optimization of the system in the AGV design. The efficiency of steering control using only 1 steering wheel as 4 wheel control and small optimal radius on the AGV will increase maneuverability compared to using 2 WD.