Alvianto, Oky (2026) Desain dan optimasi rangka unmanned ground vehicle (UGV) untuk 3D concrete print berbasis robotic ARM. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Unmanned Ground Vehicle (UGV) yang digunakan sebagai platform pendukung sistem pencetakan beton berbasis robotic arm memiliki permasalahan mendasar, yaitu dimensi rangka yang terlalu besar serta keberadaan komponen kendali manual berupa setir dan jok kemudi yang menjadikan kendaraan ini belum tergolong sebagai kendaraan tanpa awak sesungguhnya. Penelitian ini bertujuan untuk melakukan desain dan optimasi rangka UGV agar lebih kompak, memenuhi standar keamanan struktural, sekaligus bebas dari sistem kendali manual. Metode yang digunakan mencakup analisis struktur statis menggunakan Finite Element Method (FEM) dengan perangkat lunak ANSYS Workbench serta perhitungan momen guling untuk menentukan dimensi rangka yang aman. Hasil evaluasi menunjukkan bahwa existing frame tidak memenuhi kriteria desain yang ditetapkan, sehingga dilakukan optimasi melalui penggantian profil C-channel dengan profil Rectangular Hollow Section (RHS) 120 × 60 × 5 mm disertai pemendekan dimensi rangka. Rangka optimasi berhasil menurunkan tegangan maksimum dari 179,97 MPa menjadi 130,03 MPa, meningkatkan safety factor minimum menjadi 2,26, serta mempertahankan stabilitas terhadap risiko terguling dengan safety factor momen guling sebesar 4,63. Dengan demikian, desain rangka optimasi terbukti menghasilkan struktur yang lebih kompak, lebih ringan, dan memiliki performa mekanis yang lebih baik dibandingkan existing frame.
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The Unmanned Ground Vehicle (UGV) used as a supporting platform for a robotic arm-based 3D Concrete Printing system has fundamental limitations, including an excessively large frame dimension and the presence of manual control components, such as the steering system and driver's seat, which prevent the vehicle from being classified as a fully autonomous platform. This study aims to design and optimize the UGV frame to achieve a more compact structure, satisfy structural safety requirements, and eliminate the manual control system. The proposed methodology consists of static structural analysis using the Finite Element Method (FEM) implemented in ANSYS Workbench and an overturning moment analysis to determine a safe frame dimension. The evaluation results indicate that the existing frame does not satisfy the established design criteria. Therefore, the frame was optimized by replacing the C-channel profile with a Rectangular Hollow Section (RHS) 120 × 60 × 5 mm profile and reducing the overall frame dimensions. The optimized frame successfully reduced the maximum stress from 179.97 MPa to 130.03 MPa, increased the minimum safety factor to 2.26, and maintained adequate stability against overturning with an overturning safety factor of 4.63. These results demonstrate that the optimized frame provides a more compact, lighter, and structurally superior design compared with the existing frame while maintaining the required operational safety.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Existing Frame, Rangka Optimasi, FEM, Momen Guling. Existing Frame, Optimized Frame, FEM, Overturning Moment. |
| Subjects: | T Technology > TA Engineering (General). Civil engineering (General) > TA347 Finite Element Method T Technology > TA Engineering (General). Civil engineering (General) > TA645 Structural analysis (Engineering) T Technology > TA Engineering (General). Civil engineering (General) > TA658 Structural design T Technology > TA Engineering (General). Civil engineering (General) > TA660.F7 Structural frames. |
| Divisions: | Faculty of Vocational > Mechanical Industrial Engineering (D4) |
| Depositing User: | Oky Alvainto |
| Date Deposited: | 07 Jul 2026 05:32 |
| Last Modified: | 07 Jul 2026 05:39 |
| URI: | http://repository.its.ac.id/id/eprint/134378 |
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