Modular Omni-directional AGV Developmental Platform with Integrated Suspension, Power-plant and Control Systems
- Authors: Macfarlane, Alexander B. S
- Date: 2022-12
- Subjects: Automated guided vehicle systems , Electric automobiles--Batteries--Design and construction
- Language: English
- Type: Master's theses , text
- Identifier: http://hdl.handle.net/10948/59500 , vital:62123
- Description: The thesis focuses on the development of an industrial automatic guided vehicle (AGV) with omni-directional capabilities. The omni-directional strategy used was the "swerve drive" system, a system whereby a wheel can be rotated about both its y axis (rolling axis) and z axis (vertical axis). Unlike most commonly used swerve drive systems that have swerve capabilities on each wheel attached to the body of the vehicle, this research seeks to reduce cost by only having swerve capabilities on two diagonal wheels. The remaining two wheels will act as castor units. AC drives are used on the system in place of more traditional DC drives, due to their cost vs capability advantage over DC and their prevalence in the industrial environment. Since an AGV is a mobile platform any power source found on it is usually derived from batteries, a DC source. Usage of DC introduces several limitations including difficulty transforming voltage levels for different systems, inability to run AC drives directly from the power source and comparably larger conduction wires. These limitations were overcome by adding a stand-alone power-plant on the AGV in the form of an inverter. The inverter transformed the DC power supplied by a battery bank from 48 volts DC to 230 volts AC. Thus, the primary focus of this research is on the development and validation of a novel two wheel omni-directional drive system that makes use of inexpensive and readily available components that have already been proven to work in industry. , Thesis (PhD) -- Faculty of Engineering, the Built Environment, and Technology, 2022
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- Date Issued: 2022-12
- Authors: Macfarlane, Alexander B. S
- Date: 2022-12
- Subjects: Automated guided vehicle systems , Electric automobiles--Batteries--Design and construction
- Language: English
- Type: Master's theses , text
- Identifier: http://hdl.handle.net/10948/59500 , vital:62123
- Description: The thesis focuses on the development of an industrial automatic guided vehicle (AGV) with omni-directional capabilities. The omni-directional strategy used was the "swerve drive" system, a system whereby a wheel can be rotated about both its y axis (rolling axis) and z axis (vertical axis). Unlike most commonly used swerve drive systems that have swerve capabilities on each wheel attached to the body of the vehicle, this research seeks to reduce cost by only having swerve capabilities on two diagonal wheels. The remaining two wheels will act as castor units. AC drives are used on the system in place of more traditional DC drives, due to their cost vs capability advantage over DC and their prevalence in the industrial environment. Since an AGV is a mobile platform any power source found on it is usually derived from batteries, a DC source. Usage of DC introduces several limitations including difficulty transforming voltage levels for different systems, inability to run AC drives directly from the power source and comparably larger conduction wires. These limitations were overcome by adding a stand-alone power-plant on the AGV in the form of an inverter. The inverter transformed the DC power supplied by a battery bank from 48 volts DC to 230 volts AC. Thus, the primary focus of this research is on the development and validation of a novel two wheel omni-directional drive system that makes use of inexpensive and readily available components that have already been proven to work in industry. , Thesis (PhD) -- Faculty of Engineering, the Built Environment, and Technology, 2022
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- Date Issued: 2022-12
Energy management system for the diagnosis and control of an automatic guided vehicle
- Authors: Church, Stuart Michael
- Date: 2016
- Subjects: Automated guided vehicle systems , Mechatronics
- Language: English
- Type: Thesis , Masters , MEng
- Identifier: http://hdl.handle.net/10948/4798 , vital:20681
- Description: With the increase in electronic equipment implemented in various systems, as well as the increase in calculating power that these devices offer, designers are being empowered to make use of this power in real-time systems to diagnose and protect the systems themselves. This reasoning is too compounded by the focus on efficiency and safety in the design of complex systems, as well as the increasing expense and sensitivity of the electronic components themselves. With this in mind, this dissertation aims at developing a comprehensive measurement, control and reaction system for the electrical diagnosis and ultimately optimisation of complex electrical and electronic systems. This system will serve as a real-time diagnosis tool, which will enable the real-time diagnosis of various components in an electro-mechanical system, which can then be interpreted to determine the working state of the various components. Another sphere of this project will involve the accurate monitoring of the battery status as well as actively balancing the series connected batteries. The focus on the batteries will seek to prolong the life of the batteries, while being able to squeeze as much capacity out of them. The initial design and testing will be based on an AGV system implemented at VWSA, however a main goal throughout the design process will be modularity, i.e. the ease of implementation of this system in other systems. The key technologies used in the development of this system will still comprise of the components used in the original AGV, however new prototype components sourced from Microcare are used for the battery management system, while current sensors directly connected to the PLC’s analog input ports will be used for the active monitoring of currents distributed through the AGV.
- Full Text:
- Date Issued: 2016
- Authors: Church, Stuart Michael
- Date: 2016
- Subjects: Automated guided vehicle systems , Mechatronics
- Language: English
- Type: Thesis , Masters , MEng
- Identifier: http://hdl.handle.net/10948/4798 , vital:20681
- Description: With the increase in electronic equipment implemented in various systems, as well as the increase in calculating power that these devices offer, designers are being empowered to make use of this power in real-time systems to diagnose and protect the systems themselves. This reasoning is too compounded by the focus on efficiency and safety in the design of complex systems, as well as the increasing expense and sensitivity of the electronic components themselves. With this in mind, this dissertation aims at developing a comprehensive measurement, control and reaction system for the electrical diagnosis and ultimately optimisation of complex electrical and electronic systems. This system will serve as a real-time diagnosis tool, which will enable the real-time diagnosis of various components in an electro-mechanical system, which can then be interpreted to determine the working state of the various components. Another sphere of this project will involve the accurate monitoring of the battery status as well as actively balancing the series connected batteries. The focus on the batteries will seek to prolong the life of the batteries, while being able to squeeze as much capacity out of them. The initial design and testing will be based on an AGV system implemented at VWSA, however a main goal throughout the design process will be modularity, i.e. the ease of implementation of this system in other systems. The key technologies used in the development of this system will still comprise of the components used in the original AGV, however new prototype components sourced from Microcare are used for the battery management system, while current sensors directly connected to the PLC’s analog input ports will be used for the active monitoring of currents distributed through the AGV.
- Full Text:
- Date Issued: 2016
Develoment of a navigation system for an autonomous guided vehicle using android technology
- Authors: Snyman, Christo Johannes
- Subjects: Automated guided vehicle systems , Global Positioning System
- Language: English
- Type: Thesis , Masters , MEngineering (Mechatronics)
- Identifier: vital:9660 , http://hdl.handle.net/10948/d1020917
- Description: Modern cell phone hardware, due to its integrated peripherals, provides a low cost intelligent controller for use in the navigation of an Automated Guided Vehicle (AGV). Most commercial AGV’s use proprietary hardware which is expensive to replace and also difficult to maintain. Using industrial hardware components combined with Android mobile platforms could provide a low-cost alternative. This would be easier to maintain, using existing in-house factory maintenance knowledge. A prototype AGV was designed and developed based on an integrated system between an industrial Programmable Logic Controller (PLC) and an Android operating system mobile platform. This system utilises the mobile platforms integrated Global Position System (GPS) or video camera as tools for navigation. Experimental tests were performed to determine whether the prototype can navigate a predefined course by making use of GPS and camera line following algorithms. The accuracy of the line following algorithm was influenced by the speed at which the research AGV moved. Mounting the Android camera higher above the ground improved the vision and therefore accuracy of the algorithm. The GPS algorithm successfully navigated to various waypoints. The accuracy of the implemented GPS unit on the Android device is its limitation. The research unit was only capable of reaching a waypoint consistently within a three-metre radius.
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- Authors: Snyman, Christo Johannes
- Subjects: Automated guided vehicle systems , Global Positioning System
- Language: English
- Type: Thesis , Masters , MEngineering (Mechatronics)
- Identifier: vital:9660 , http://hdl.handle.net/10948/d1020917
- Description: Modern cell phone hardware, due to its integrated peripherals, provides a low cost intelligent controller for use in the navigation of an Automated Guided Vehicle (AGV). Most commercial AGV’s use proprietary hardware which is expensive to replace and also difficult to maintain. Using industrial hardware components combined with Android mobile platforms could provide a low-cost alternative. This would be easier to maintain, using existing in-house factory maintenance knowledge. A prototype AGV was designed and developed based on an integrated system between an industrial Programmable Logic Controller (PLC) and an Android operating system mobile platform. This system utilises the mobile platforms integrated Global Position System (GPS) or video camera as tools for navigation. Experimental tests were performed to determine whether the prototype can navigate a predefined course by making use of GPS and camera line following algorithms. The accuracy of the line following algorithm was influenced by the speed at which the research AGV moved. Mounting the Android camera higher above the ground improved the vision and therefore accuracy of the algorithm. The GPS algorithm successfully navigated to various waypoints. The accuracy of the implemented GPS unit on the Android device is its limitation. The research unit was only capable of reaching a waypoint consistently within a three-metre radius.
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