Optimised dynamic motion control of near spherical objects : a thesis presented in the partial fulfilment of the requirements for the degree of PhD in Engineering at Massey University, Palmerston North, New Zealand.

Abstract

This research investigates the development of an automated packing machine for a New Zealand Industrial Company (NZIC). NZIC is a leading international manufacturer that produces automated equipment for a labour intensive industry. The proposed system aims to solve the complex packing of near spherical objects (OBJ) which is currently the most labour intensive task. A review of the existing full or partially autonomous systems has identified multiple units that have attempted to remove human labour from relevant or simplified versions of the task. Three areas are identified as requiring in-depth investigation and this research sets out to investigate these issues and propose possible solutions. One failing aspect of the existing systems is the apparent lack of prior analysis on how such a machine would deliver on commercial requirements. This research made an indepth motion analysis on possible automated solutions and laid the foundation for engineering development.