Putra, Bramasta (2024) Perancangan Trajectory Planning pada Mesin Case Packer Delta Robot 3-Axis dengan Metode Polinomial Kubik dan Inverse Kinematic untuk Meningkatkan Product Pick Rate. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Sistem pick and place dinamis umumnya menggunakan robot paralel, salah satunya delta robot 3-axis. Penerapan sistem pick and place dinamis membutuhkan koordinasi sistem yang teratur dan bekerja dengan cepat. Konveyor umpan masuk produk akan dijalankan tanpa henti sehingga robot perlu bergerak dengan cepat dan tepat agar dapat mengambil produk tanpa terlewat. Trajectory planning pada robot menjadi begitu penting, karena gerakan yang tidak efisien akan menyebabkan adanya risiko produk tidak terambil oleh mesin. Pada industri yang digunakan sebagai acuan, didapatkan data bahwa dari sampling pengamatan selama 10 menit terdapat 51 produk tidak terambil dari total 284 produk yang masuk pada mesin. Presentase pick rate dari sampling ini sebesar 82%. Presentase ini masih di bawah target pick rate yaitu lebih dari 90%. Penelitian ini bertujuan untuk mengimplementasikan metode polinomial kubik dan inverse kinematic untuk merancang trajectory planning yang efisien dan dapat meningkatkan pick rate dari robot. Rancangan trajectory planning baru yang menggunakan rangkaian gerakan robot modifikasi lebih efisien dibandingkan dengan rancangan trajectory planning yang menggunakan rangkaian gerakan robot referensi. Rangkaian gerakan robot referensi dipangkas dari 5 gerakan menjadi 4 gerakan, menghasilkan lintasan yang lebih pendek dan mengurangi waktu yang tidak diperlukan. Dengan rancangan trajectory planning tersebut didapatkan hasil product pick rate sebesar 91,7% dan sudah melampaui target product pick rate yang ditentukan.
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Dynamic pick and place systems generally use parallel robots, one of which is the 3-axis delta robot. The application of a dynamic pick and place system requires an organized system coordination and works quickly. The product in-feed conveyor will run non-stop so the robot needs to move quickly and precisely in order to pick up the product without being missed. Trajectory planning on the robot becomes so important, because inefficient movements will cause the risk of products not being picked up by the machine. In the industry used as a reference, data was obtained that from sampling observations for 10 minutes there were 51 products not picked from a total of 284 products that entered the machine. The pick rate percentage from this sampling is 82%. This percentage is still below the pick rate target of more than 90%. This research aims to implement the cubic polynomial and inverse kinematic methods to design efficient trajectory planning that can increase the pick rate of the robot. The new trajectory planning design using the modified robot motion set is more efficient than the trajectory planning design using the reference robot motion set. The reference robot's sequence of movements is trimmed from 5 movements to 4 movements, resulting in a shorter trajectory and reducing unnecessary time. With this trajectory planning design, the product pick rate is 91.7% and has exceeded the target.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | trajectory planning, metode polinomial kubik, metode inverse kinematics, proses pick and place dinamis, cubic polynomial method, inverse kinematics method, dynamic pick and place process |
| Subjects: | T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. |
| Divisions: | Faculty of Vocational > 36304-Automation Electronic Engineering |
| Depositing User: | Bramasta Triananda Putra |
| Date Deposited: | 15 Aug 2024 01:20 |
| Last Modified: | 15 Aug 2024 01:20 |
| URI: | http://repository.its.ac.id/id/eprint/115402 |
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