Optimasi Konfigurasi Aerial Cable Towed System (ACTS)

Ramadhan, Rafif Putra Noer (2025) Optimasi Konfigurasi Aerial Cable Towed System (ACTS). Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Aerial Cable Towed Systems (ACTS) merupakan perkembangan lanjut dari ilmu Cable Drive Parallel Robot (CDPR). ACTS memanfaatkan kemampuan kolaboratif beberapa kendaraan udara tak berawak (UAV) untuk melakukan tugas-tugas kompleks yang melibatkan pengangkutan dan manipulasi muatan. Sistem ini, terdiri dari UAV yang terhubung ke muatan melalui kabel, seperti halnya pada CDPR. ACTS memiliki kelemahan karena bergantung dari energi baterai dan kebutuhan daya untuk mempertahankan penerbangan maupun tegangan kabel. Hal tersebut akhirnya membatasi durasi serta jarak dimana sistem ini dapat beroperasi. Penilitian ini dilakukan untuk mengoptimalkan konfigurasi ACTS agar tegangan tali ACTS dapat dikurangi. Konfigurasi sudut elevasi θ dan konfigurasi sudut azimut ϕ paling optimal dicari berdasarkan norm tegangan tali yang paling minimum sepanjang dua studi kasus trajectory γ. Hasil optimasi kemudian dianalisis berdasarkan tension space, thrust space, dan wrench space selama melakukan trajectory. Konfigurasi optimal ACTS selama melakukan trajectory didapatkan hasil berupa perubahan sudut azimut ϕ aerial robot. Nilai tertinggi yang didapatkan adalah 60o untuk studi kasus quasi-static, dan 97o untuk studi kasus dinamis. Tension space, thrust space, dan wrench space untuk kedua studi kasus tersebut, dianalisis dan didasarkan pada indeks capacity margin, menunjukkan kapasitas angkut maksimum dari ACTS sebesar 3.6403 N (studi kasus 1) dan 2.8602 N (studi kasus 2). Berdasarkan perhitungan RMS untuk kedua studi kasus, perubahan konfigurasi sudut azimuth ϕ mempunyai pengaruh signifikan terhadap penurunan tegangan tali pada gerak dinamis.
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Aerial Cable Towed Systems (ACTS) is an advanced science development of Cable Drive Parallel Robots (CDPR). ACTS utilises the collaborative capabilities of multiple unmanned aerial vehicles (UAVs) to perform complex tasks involving payload transport and manipulation. The system, which consists of UAVs connected to payloads via cables, is similar to CDPR. The drawback of ACTS is that it relies on battery energy and power requirements to maintain flight and cable tension which can limit the duration and distance over which it can operate. Thus, this research was conducted to optimise the configuration of ACTS so that tension of ACTS can be decreased. The most optimal elevation angle θ configuration and azimuth angle ϕ configuration are sought based on the minimum rope tension norm between 2 trajectory case studies γ. The optimisation results are then analysed based on the Tension Space, Thrust Space, and Wrench Space during the trajectory. The optimal configuration of ACTS during the trajectory is obtained in the form of changes in the azimuth angle of the aerial robot with the highest value of 60o for the quasi-static case study and 97o for the dynamic case study. Tension space, Thrust space, and Wrench space for the two case studies were analysed and based on the capacity margin index, it was shown that the maximum carrying capacity of ACTS was 3.6403 N (case study 1) and 2.8602 N (case study 2). Based on RMS calculations for both case studies, changing the configuration of the azimuth angle ϕ has a significant effect on reducing the rope tension in dynamic motion.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Aerial Cable Towed System (ACTS), Genetic Algorithmn, Unmanned Aerial Vehicles (UAVs)
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	RAFIF PUTRA NOER RAMADHAN
Date Deposited:	05 Feb 2025 06:34
Last Modified:	05 Feb 2025 06:34
URI:	http://repository.its.ac.id/id/eprint/118240

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