Suhartono, Alif Syihabudin Fawwaz (2025) Pengembangan Kursi Roda Pendaki Tangga Dengan Wheel Simulation Sebagai Tahap Awal Desain. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Penelitian ini dilakukan untuk merancang dan mengevaluasi kursi roda yang mampu digunakan pada medan tidak rata, khususnya tangga, sebagai solusi atas keterbatasan mobilitas pengguna kursi roda konvensional. Permasalahan utama yang diangkat adalah rendahnya kapabilitas kursi roda standar dalam menghadapi rintangan vertikal yang berdampak pada penurunan kemandirian pengguna. Metode yang digunakan mencakup proses perancangan mekanis menggunakan perangkat lunak Autodesk Inventor untuk membangun model 3D kursi roda dengan konfigurasi roda tri-spoke dan planetary gear, serta integrasi sistem dinamo penggerak berbasis motor BLDC. Model 3D tersebut kemudian diimplementasikan ke dalam game engine Unity untuk disimulasikan pada empat medan berbeda, yaitu bidang datar, miring, tidak rata, dan tangga standar, guna mengevaluasi performa kursi roda secara teknis. Aspek yang dianalisis meliputi torsi motor, distribusi beban, konsumsi energi, kestabilan posisi, dan respons terhadap medan vertikal. Hasil simulasi menunjukkan bahwa sistem roda mampu menjaga keseimbangan dan pusat gravitasi, serta menghasilkan torsi rata-rata 4,85 Nm yang cukup untuk mendaki sudut tangga hingga 30°. Selain itu, simulasi mencatat konsumsi daya pada kisaran 48–56 Watt, serta kecepatan pendakian sekitar 0,3–0,4 m/s, yang menunjukkan efisiensi energi dalam kondisi beban dan kemiringan tinggi. Analisis tegangan struktural menggunakan metode Von Mises dan Safety Factor menunjukkan bahwa material dan desain mampu menahan beban operasional dengan safety factor rata-rata sebesar 2,3 yang berada dalam batas aman. Dengan pendekatan simulasi ini, penelitian berhasil menghasilkan desain awal kursi roda pendaki tangga dengan performa teknis yang layak dan siap dikembangkan lebih lanjut ke tahap prototipe fisik. Penelitian ini memberikan kontribusi pada pengembangan teknologi asistif yang lebih adaptif, efisien, dan aman, serta membuka peluang integrasi sistem kontrol otomatis dan sensor untuk mendukung evolusi kursi roda pintar di masa depan.
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This research was conducted to design and evaluate a wheelchair that can be used on uneven terrain, particularly stairs, as a solution to the mobility limitations of conventional wheelchair users. The main issue raised is the low capability of standard wheelchairs in overcoming vertical obstacles, which impacts the independence of users. The methods employed include mechanical design processes using Autodesk Inventor software to create a 3D model of the wheelchair with a tri-spoke wheel configuration and planetary gear system, as well as the integration of a BLDC motor-based drive system. The 3D model was then implemented into the Unity game engine to simulate performance on four different terrains: flat, inclined, uneven, and standard stairs, to evaluate the wheelchair's technical performance. Analyzed aspects included motor torque, load distribution, energy consumption, position stability, and response to vertical terrain. The simulation results showed that the wheel system could maintain balance and center of gravity, and generate an average torque of 4.85 Nm, sufficient to climb stair angles up to 30°. Furthermore, the simulation recorded power consumption in the range of 48–56 Watts, along with climbing speeds of approximately 0.3–0.4 m/s, indicating energy efficiency under high load and incline conditions. The structural stress analysis using the Von Mises method and Safety Factor shows that the material and design are capable of withstanding operational loads with an average safety factor of 2.3, which is within safe limits. Through this simulation approach, the study successfully produced an initial design for a stair-climbing wheelchair with technically viable performance, ready for further development into a physical prototype. This research contributes to the development of more adaptive, efficient, and safe assistive technology, and opens opportunities for integrating automatic control systems and sensors to support the evolution of smart wheelchairs in the future.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Kursi roda, pendaki tangga, simulasi roda, desain model, teknologi asistif, Wheelchair, stair climber, wheel simulation, model design, assistive technology |
| Subjects: | T Technology > T Technology (General) T Technology > T Technology (General) > T57.62 Simulation T Technology > TA Engineering (General). Civil engineering (General) > TA169.5 Failure analysis T Technology > TA Engineering (General). Civil engineering (General) > TA174 Computer-aided design. T Technology > TA Engineering (General). Civil engineering (General) > TA347 Finite Element Method T Technology > TR Photography > TR897.7 Computer animation |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Biomedical Engineering > 11410-(S1) Undergraduate Thesis |
| Depositing User: | Alif Syihabudin Fawwaz Suhartono |
| Date Deposited: | 04 Aug 2025 03:54 |
| Last Modified: | 04 Aug 2025 03:55 |
| URI: | http://repository.its.ac.id/id/eprint/126888 |
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