主办:陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊:1976年

Automobile Applied Technology ›› 2025, Vol. 50 ›› Issue (7): 59-64.DOI: 10.16638/j.cnki.1671-7988.2025.007.011

• Design and Research • Previous Articles    

Research on the Motion Simulation of AGV Omnidirectional Mobile Platform Based on Mecanum Wheels

NING Shenghua1 , HE Jiye1 , TANG Xiangjiao2   

  1. 1.College of Automotive Engineering, Liuzhou Polytechnic University; 2.SAIC GM Wuling Automobile Company Limited
  • Published:2025-04-14
  • Contact: NING Shenghua

基于 Mecanum 轮的 AGV 全方位移动 平台运动仿真研究

宁胜花 1,何基业 1,唐香蕉 2   

  1. 1.柳州职业技术大学 汽车工程学院; 2.上汽通用五菱汽车股份有限公司
  • 通讯作者: 宁胜花
  • 作者简介:宁胜花(1984-),女,硕士,高级工程师,研究方向为汽车设计及汽车远程服务系统
  • 基金资助:
    2022 年度广西高校中青年教师科研基础能力提升项目:智能网联汽车平台化电子电气架构研究(2022KY1051)

Abstract: With the rapid development of automation technology, higher requirements have been proposed for the design and performance optimization of automated guided vehicle (AGV) omnidirectional mobile platforms. This paper aims to analyze the kinematic characteristics and omnidirectional motion capabilities of Mecanum wheel-based AGV using SolidWorks and RecurDyn software. Firstly, a three-dimensional model of the AGV omnidirectional mobile platform is established using SolidWorks software, based on which forward kinematics analysis is conducted. Subsequently, an in-depth analysis is performed on the essential conditions for achieving omnidirectional motion in AGV mobile platforms, clarifying their kinematic characteristics and design requirements. Finally, a virtual prototype of the AGV omnidirectional mobile platform is developed using RecurDyn software, enabling comprehensive simulation analyses of its lateral, longitudinal, diagonal, and rotational movements. The simulation results demonstrate that the Mecanum wheel-based AGV omnidirectional mobile platform can successfully achieve fulldirectional movement. This not only verifies the accuracy and reliability of the SolidWorks model, but also provides crucial theoretical support and data references for motion control research of Mecanum wheel-based AGV platforms. These findings establish a solid foundation for further optimization design and practical applications.

Key words: Mecanum wheel; AGV; three-dimensional model; motion simulation

摘要: 随着自动化技术的快速发展,对自动导引车(AGV)全方位移动平台的设计与性能优 化提出了更高要求,文章旨在通过 SolidWorks 和 RecurDyn 软件分析 Mecanum 轮式 AGV 的 运动学特性及全方位运动能力。首先,利用 SolidWorks 软件建立了 AGV 全方位移动平台的 三维模型,基于该模型开展了正运动学分析;然后,深入分析 AGV 全方位移动平台实现全方 位运动的必要条件,明确其运动学特性和设计要求;最后,借助 RecurDyn 软件建立 AGV 全 方位移动平台的虚拟样机,对其横向运动、纵向运动、斜向运动及旋转运动进行全面的仿真 分析。仿真结果表明,Mecanum 轮式 AGV 全方位移动平台能够成功实现全方位运动,不仅 验证了 SolidWorks 模型的准确性和可靠性,而且为 Mecanum 轮式 AGV 全方位移动平台的运 动控制研究提供了重要的理论支持和数据参考,为其进一步的优化设计和实际应用奠定了坚 实的基础。

关键词: Mecanum 轮;AGV;三维模型;运动仿真