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.
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