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Automated assembly line has become an important part of modern industrial production, and its operation efficiency and quality directly affect the production cost and market competitiveness. In the traditional assembly production line, it needs a lot of labor and material input, and the production efficiency is low and the precision is difficult to guarantee. In order to solve these problems, automated assembly lines have been widely used, among which AGV robots are an important automated assembly equipment.AGV robots have been widely used in various automated assembly lines because of their advantages of flexible operation, etc. The drive system of AGV robots is mainstreamed by the structure of driving wheels+follower wheels, which is capable of effectively dragging the heavy...