Abstract:  Most of the traditional logistics equipment had problems such as single transmission mode and difficulty in flexible adjustment of transmission lines. For the modular material transmission platform with honeycomb layout, based on the three-wheel model and Newton-Euler dynamics, general kinematics and dynamics models for the variable-size material transfer were respectively derived on the basis of the omni-directional wheel systems to ensure the accuracy and smoothness of the transfer. An IACSPF algorithm generated by fusion was used for material transmission path planning, which improved the convergence speed of the algorithm and avoided falling into local optimization. Finally, simulations and experiments were carried out to verify the transmission trajectory, speed and path planning of the different size materials. The results show that the variable-size materials may be stably transported to the vicinity of the target by the optimal path. The relative errors of trajectory and speed average are less than 4.27% and 8.33% respectively. The optimization rates of the length, time and number of turning points of the planned path are 20.77%, 55.39% and 73.33% respectively, and the safety distance is larger, which verifies the rationality of the proposed general transmission model and the effectiveness of the IACSPF algorithm.

Key words: material transmission platform, variable-size material, general transmission model, path planning, improved ant colony system with potential field(IACSPF) algorithm

摘要： 传统物流设备大多存在传输方式单一、线路柔性调整困难等问题。面向一种呈蜂窝状布局形式的模块化物料传输平台，在三轮模型与牛顿欧拉动力学的基础上，基于全向轮系分别推导了适用于变尺寸物料传输的运动学通用模型与动力学通用模型，以确保传输的准确性和平稳性。将融合生成的改进势场蚁群(IACSPF) 算法用于物料传输路径规划，提高了算法收敛速度并能避免陷入局部最优。最后通过仿真及实验对不同尺寸物料的传输轨迹、速度及路径规划进行了验证分析。研究结果表明，变尺寸物料能以最优路径稳定地传输至目标点附近，轨迹与速度均值的相对误差分别小于4.27%和8.33%，规划路径的长度、时间及拐点数优化率分别为20.77%、55.39%、73.33%，且安全距离较大，验证了所建通用传输模型的合理性以及IACSPF算法的有效性。

关键词: 物料传输平台, 变尺寸物料, 通用传输模型, 路径规划, 改进势场蚁群算法