M.Ing. (Mechanical Engineering) / In this study a manipulator was developed by using system design methods. The main aim was to develop a robot which could be used as a packer in an industrial environment. Pneumatic silinders have been used with great success but up to now seldom in areas where positional accuracy is required. To design a manipulator which is able to operate in a varying work space it must be supplied with specialized sensors. For this reason research was done into image processing. Most of the relevant techniques of image processing arc discussed shortly with particular emphasis on the method of moment invariants for object recognition. Another important aspect covered in the project is the way by which articulated mechanical systems can be modelled kinematically and dynamically. The kinematical description was especially studied and in particular the method introduced by Denavit and Hartenberg and the method of general matrix transformations.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:uj/uj:10906 |
| Date | 24 April 2014 |
| Creators | Steenekamp, Andries Petrus |
| Source Sets | South African National ETD Portal |
| Detected Language | English |
| Type | Thesis |
| Rights | University of Johannesburg |
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