Perancangan Sistem Integrasi Unmanned Ground Vehicle (UGV) & Arm Robot Untuk Prototyping Robot Pembasmi Jamur Pada Bibit Kelapa Sawit

Dhaffa, Brian Febyo (2024) Perancangan Sistem Integrasi Unmanned Ground Vehicle (UGV) & Arm Robot Untuk Prototyping Robot Pembasmi Jamur Pada Bibit Kelapa Sawit. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Industri kelapa sawit memainkan peran yang sangat penting dalam perekonomian global sebagai salah satu sumber utama minyak nabati. Namun, produktivitas kelapa sawit sering kali terganggu oleh serangan penyakit Busuk Pangkal Batang (BPB) yang disebabkan oleh Ganoderma boninense yang merupakan cendawan patogen tular tanah. Pada penelitian ini dirancang sistem integrasi Unmanned Ground Vehicle (UGV) & arm robot untuk prototyping robot pembasmi jamur pada bibit kelapa sawit yang digunakan untuk mempermudah dan mempercepat kerja dalam mengatasi penyakit Ganoderma Boninense. Komponen utama yang terpilih pada pembuatan prototype meliputi mikrokontroler STM32F042G6U, motor BLDC ZLLG45ASM200 sebagai penggerak UGV/prototype, motor DC PG45 sebagai penggerak arm robot & steering UGV, serta PS3 controller. Kemudian dilakukan percobaan gerak arm robot untuk mendapatkan perkiraan waktu dapat dijadikan acuan saat proses perpindahan kurasi antar bibit kelapa sawit. Hasil percobaan pada gerak horizontal jarak 30 cm dari UGV mendapatkan hasil rata – rata 3,88 s, dan pada gerak vertikal didapatkan waktu untuk bergerak dengan jarak 28,5 cm dari UGV mendapatkan hasil rata - rata 8,06 s.
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The palm oil industry plays a very important role in the global economy as one of the main sources of vegetable oil. However, palm oil productivity is often disrupted by attacks of Basal Stem Rot (BPB) disease caused by Ganoderma boninense which is a soil-borne pathogenic fungus. In this study, an integrated system of Unmanned Ground Vehicle (UGV) & arm robot was designed for prototyping a fungus-killing robot on oil palm seedlings which is used to simplify and accelerate the work in overcoming Ganoderma Boninense disease. The main components selected in making the prototype include the STM32F042G6U microcontroller, the ZLLG45ASM200 BLDC motor as the UGV/prototype driver, the PG45 DC motor as the robot arm & steering UGV driver, and the PS3 controller. Then an experiment was carried out on the movement of the robot arm to obtain an estimated time that can be used as a reference during the curation transfer process between oil palm seedlings. The results of the experiment on horizontal motion at a distance of 30 cm from the UGV obtained an average result of 3,88 s, and on vertical motion the time to move at a distance of 28,5 cm from the UGV obtained an average result of 8,06 s.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Sistem Integrasi, Unmanned Ground Vehicle (UGV), Arm Robot, Integration System
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots
Divisions:	Faculty of Vocational > Mechanical Industrial Engineering (D4)
Depositing User:	Brian Febyo Dhaffa
Date Deposited:	22 Jan 2025 04:01
Last Modified:	22 Jan 2025 04:01
URI:	http://repository.its.ac.id/id/eprint/116577

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