An Integrated Power Wheel Module for Automated Guided Vehicle

Abstract

Aiming at the shortcomings of current mobile robot integrated power drive wheels, in this paper, an integrated power wheel module suitable for large industrial Automated Guided Vehicle (AGV)/mobile robots is proposed. Different from the traditional structure, this paper makes innovations in the design of the motor, the topology of the drives and the integrated structure. In order to improve the torque density, an axial flux motor is adopted, and the structure of the reducer and the motor in series is used, which greatly reduces the size of the motor. In terms of drive technology, the winding with common DC bus including dual-inverter circuit structure improves the fault-tolerant capability.