- Title
- Design of a low-cost autonomous guided cart for material handling
- Creator
- Cawood, Gareth James
- Subject
- Automobiles -- Design and construction
- Subject
- Automobiles -- Automatic control
- Subject
- Vehicles -- Automatic control
- Date Issued
- 2015
- Date
- 2015
- Type
- Thesis
- Type
- Masters
- Type
- MEngineering
- Identifier
- vital:9655
- Description
- This dissertation covers the design and manufacture of an autonomous guided cart (AGC) for use in the material handling industry. General Motors South Africa (GMSA) requires a low-cost AGC for use in their Struandale plant. A budget of R35 000 per unit was proposed. The researcher, in collaboration with staff at GM, compiled a list of engineering requirements for the AGC. After research into the unique problems of the project, an examination of a previous design attempt by staff of GM Thailand, the researcher developed a new design, the subject of this report. Different solutions for each design problem were investigated before the design was finalised. A three-wheeled vehicle was designed making use of two motors in a differential-drive setup to control motion. Navigation is via a line-following mechanism, using an induction sensor-array in conjunction with a pre-laid metallic strip. To aid the design, the system was modelled to understand the different control elements at play. The researcher developed software for several aspects of the design: for the PLC controlling the system and motors; for a microcontroller that communicates with the PLC and a wireless module; for a computer server that communicates with a second wireless device, receiving information from the PLC; and a web interface to view this information. These form the SCADA integration of the project. The final product meets the GMSA specifications. It is a robot capable of towing a trolley of mass not exceeding 350 kg. While the robot is able to navigate a pre-laid route, it cannot reliably stop at marked locations. It is possible to monitor the system via a web-interface. The robot is capable of operating for an entire 8-hour shift before the batteries need to be recharged. The total cost of the prototype was R26 340.
- Format
- xiii, 156 leaves
- Format
- Publisher
- Nelson Mandela Metropolitan University
- Publisher
- Faculty of Engineering, the Built Environment and Information Technology
- Language
- English
- Rights
- Nelson Mandela Metropolitan University
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