Rancang Bangun Purwarupa Dan Eksperimen Mobile Cable Driven Parallel Robot Di Area Tertutup Dan Terbuka

Kurniawan, Faiza Hifzuddin (2024) Rancang Bangun Purwarupa Dan Eksperimen Mobile Cable Driven Parallel Robot Di Area Tertutup Dan Terbuka. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Cable Driven Parallel Robot (CDPR) merupakan jenis manipulator parallel yang tidak menggunakan sistem sambungan kaku. CDPR menggunakan suatu mekanisme berbasis kabel sebagai media pemindahan suatu barang. Kelebihan mekanisme ini adalah workspace yang lebih besar, memiliki rasio muatan terhadap berat yang lebih tinggi sehingga akselerasi dan kecepatan end effector menjadi tinggi. Penelitian ini bertujuan untuk merancang suatu sistem kontrol berbasis PD serta melakukan eksperimen trajektori di area tertutup dan terbuka untuk memvalidasi hasil perhitungan pada Mobile Cable Driven Parallel Robot (MCDPR). MCDPR yang dipakai merupakan 3 CDPR dengan tiga kabel dengan tiap CDPR diberikan mobile base yang telah dibuat tahun 2021 dan performanya dimodifikasi pada perangkat keras berupa penggantian roda, motor, dan sistem wireless serta modifikasi perangkat lunaknya pada bagian kontrol. Eksperimen dilakukan dua kali yaitu di area terbuka dan tertutup. Dalam eksperimen tersebut, MCDPR berjalan mengikuti trajektori yang telah didesain. Hasil eksperimen menunjukkan bahwa MCDPR dapat mempertahankan posisinya sepanjang trajektori di area tertutup karena kontur permukaan rata dan gaya gesek yang kecil. Pada eksperimen di area terbuka, robot sulit mempertahankan posisinya akibat kontur permukaan bergelombang dan gaya gesek yang tinggi. RMSE eksperimen pada area tertutup menunjukkan nilai sebesar 0.1 sampai 0.2 putaran. RMSE eksperimen pada area terbuka menunjukkan hasil sebesar 0.1 sampai 0.3 putaran.
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A cable-driven parallel robot (CDPR) is a parallel manipulator that does not use a rigid connection system. CDPR uses a cable-based mechanism as a medium for moving an item. The advantages of this mechanism are a larger workspace and a higher load-to-weight ratio so that the acceleration and speed of the end effector are high. This study aims to design a PD-based control system and conduct trajectory experiments in closed and open areas to validate the Mobile Cable-Driven Parallel Robot (MCDPR) calculation results. The MCDPR used is 3 CDPRs with three cables, with each CDPR given a mobile base made in 2021. Its performance was modified in hardware by replacing wheels, motors, and wireless systems and changing its software in the control section. The experiment was carried out twice, namely in open and closed areas. In the experiment, the MCDPR walked along the designed trajectory. The experimental results showed that the MCDPR could maintain its position along the trajectory in a closed area because the surface contour was flat and the friction force was small. In experiments in open areas, the robot had difficulty maintaining its position due to the wavy surface contour and high friction force. Experimental RMSE in closed areas shows a value of 0.1 to 0.2 revolution. Experimental RMSE in open areas shows a result of 0.1 to 0.3 revolution.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	MCDPR, MATLAB, PD, Trajektori,MCDPR, MATLAB, PD, Trajectory.
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics.
Divisions:	Faculty of Industrial Technology > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	Faiza Hifzuddin Kurniawan
Date Deposited:	13 Aug 2024 06:37
Last Modified:	13 Aug 2024 06:37
URI:	http://repository.its.ac.id/id/eprint/114322

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