Drive Performance Study of Single Wheel AGV: Structure, Braking Stability, and Drive System Comparison

1. Structure and Features of Single Wheel AGV

With the rise of smart manufacturing and logistics automation, Automated Guided Vehicles (AGVs) have become vital equipment in modern material handling. Among them, the Single Wheel AGV stands out due to its integrated steering-drive wheel design, allowing both propulsion and steering via a single motorized wheel, supported by passive wheels.

Key advantages include:

• Simplified mechanics: The steering and drive systems are combined, reducing mechanical complexity and maintenance effort.

• Flexible maneuverability: Capable of tight turns and even zero-radius rotation, ideal for complex factory layouts.

• Strong spatial adaptability: Performs well in narrow aisles and confined industrial environments.

However, challenges such as lateral slip and instability during braking—especially in unloaded conditions—require precise control and mechanical tuning.

2. Braking Stability Analysis: Theory and Practice

Braking stability is a key metric for AGV operational safety. Researchers developed dynamic models for both loaded and unloaded states and analyzed braking behavior using simulation and experiments.

Key findings:

• In loaded condition, lower center of gravity improves stability, but front wheel sideslip is more likely.

• In unloaded condition, higher center of gravity increases lateral deviation risk; minimum braking distance should exceed 0.45 meters to maintain stability.

These insights offer valuable input for optimizing AGV braking control algorithms and safety mechanisms.

3. Drive System Comparison: DC vs AC

The AGV’s drive system directly impacts acceleration, energy efficiency, and system longevity. This study compares DC and AC motors in a single-wheel AGV configuration.

AC drive systems are better suited for high-frequency, high-performance AGV operations such as smart warehousing and high-speed logistics handling.

4. Simulation and Virtual Modeling

To validate experimental results, a virtual prototype of the Single Wheel AGV was built using SolidWorks and Adams.

Process:

• Constructed 3D CAD models of the AGV components;

• Imported to Adams for dynamic simulation with defined material properties and constraints;

• Analyzed output data such as displacement curves and braking forces.

Results showed high consistency between simulation and physical tests, demonstrating the effectiveness of digital twin methods for AGV design optimization and control strategy verification.