摘    要
本次设计为解决当下国内外AGV小车价格高居不下及其并不适合基础工业不完善的我国的问题，并且目前大部分AGV采用电磁或轨道引导，路线固定，局限性较大，不适用于柔性化制造系统。
为解决上述问题，在目前AGV的基础上，创新性的使用机械手联动的的装卸方式，避免了为了满足各工况需求而覆盖的各种移载机构，驱动模式和导引方式，降低了成本。同时又不同于AGC需要完善的基础设施配合，三只灵巧机械手足够完成装卸工作，极大地发挥了AGV本身的自主性和工作容积。搭配四个麦克纳姆轮极大地缩小了转向半径可在更狭小空间内作业。同时仿照无人驾驶汽车运行原理采用激光测距雷达配接近传感器能够满足各种复杂路径的使用要求，自动化程度更高。同时定位精度主要由雷达的精度决定，便于用户灵活调整型号以适应场所并控制成本（定位精度为±10mm到±5mm）。
 
关键词：AGV；工业机器人；物流搬运；无人驾驶技术
ABSTRACT

The graduation design in order to solve the present high prices for AGV car at home and abroad and is not suitable for basic industry is not perfect in our country, and at present most of the AGV by electromagnetic or track guide, fixed route, limitations, is not suitable for the flexible manufacturing system.
To solve the above problems, on the basis of the AGV, the use of innovative way of loading and unloading manipulator linkage, avoided in order to meet the demand of working condition of the institution, and cover a variety of transfer of driving mode and direct way, reduce the cost. At the same time, it is different from the basic facilities that AGC needs to perfect, and the three dexterous manipulators are enough to complete the loading and unloading work, which greatly exerts the autonomy and working capacity of AGV itself. With four McNams, the steering radius is greatly reduced to work in smaller Spaces. At the same time, the operation principle of the self-driving car adopts laser ranging radar and proximity sensors to meet the requirements of various complex paths, and the automation level is higher. At the same time, the positioning accuracy is mainly determined by the accuracy of the radar, so that the user can adjust the model flexibly to fit the site and control the cost (the positioning accuracy is plus or minus 10mm to plus or minus 5mm).
 
Key Words：AGV ;Industrial robots; Logistics transport; Unmanned technology