在智能制造中，重载自动导引车(AGV)应用较广，但是大多数灵活性较低。设计了由8个麦克纳姆轮+直流伺服电机+直流伺服驱动器及减速机构成的全向AGV。八轮称重能力强，解决了称重问题，同时由于麦克纳姆轮的特性，移动更灵活。采用CANopen进行伺服驱动器控制和信息采集。通过对麦克纳姆轮运动学进行解算，得到每个轮子的速度，实现了AGV的高精度控制。

Heavy-duty automated guided vehicles (AGVs) are widely used in intelligent manufacturing, but most of them are less flexible. An omni-directional AGV composed of eight Mecanum wheels, DC servo motor, DC servo motor drives and retarding mechanism is designed. The weighing capability of the eight wheels is strong, which solves the weighing problem. The characteristics of the Mecanum wheel makes movement more flexible. CANopen is used for the control and information acquisition of DC servo drivers. Through the kinematics calculation of the Mecanum wheels, the speed of each wheel can be obtained, so as to realize high precision control of the AGV.