Atthaullah, Muhammad Farel (2026) Analisis Kekuatan Struktur dan Optimasi Sistem Outrigger Tipe-H Untuk Peningkatan Stabilitas UGV (Unmanned Ground Vehicle) Sebagai Unit Mobile 3D Concrete Printer. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Penggunaan manual screw jack pada UGV untuk 3D Concrete Printing (3DCP) memiliki stabilitas rendah akibat sifat elastis ban pneumatik dan desain tapak yang tidak adaptif terhadap tanah yang tidak rata. Kondisi ini menyebabkan osilasi sasis yang berisiko pada kegagalan jalur cetak beton. Penelitian ini bertujuan menganalisis kekuatan struktur eksisting dan melakukan optimasi menggunakan sistem Adaptive Hydraulic Outrigger tipe-H dengan mekanisme Swivel Foot Pad. Metodologi dilakukan dengan memodelkan desain eksisting pada perangkat lunak CAD untuk dianalisis menggunakan metode elemen hingga (FEA) sebagai data baseline. Hasil identifikasi titik kritis tersebut digunakan untuk merancang sistem outrigger baru yang kemudian divalidasi ulang dengan simulasi FEA pada kondisi beban yang sama. Analisis difokuskan pada perbandingan tegangan Von-Mises dan deformasi untuk menjamin faktor keamanan (SF).
Hasil yang diharapkan adalah rancangan optimasi yang mampu memberikan landasan kerja absolut kaku (rigid) dengan distribusi beban yang lebih merata dibandingkan desain eksisting. Sistem hidrolik akan mempercepat waktu penyiapan, sementara swivel foot pad menjamin stabilitas pada medan miring. Secara keseluruhan, penelitian ini diharapkan meningkatkan efisiensi dan presisi kualitas cetak pada teknologi Mobile 3DCP.
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The use of manual screw jacks on Unmanned Ground Vehicles (UGV) for 3D Concrete Printing (3DCP) exhibits low stability due to the elastic nature of pneumatic tires and footpad designs that are non-adaptive to uneven terrain. This condition causes chassis oscillations, risking toolpath deviations and printing failure. This study aims to analyze the structural strength of the existing system and perform optimization using an H-type Adaptive Hydraulic Outrigger system equipped with a Swivel Foot Pad mechanism.
The methodology involves modeling the existing design in CAD software for analysis using Finite Element Analysis (FEA) to establish baseline data. The identified critical points are utilized to design a new hydraulic system, which is subsequently re-validated with FEA simulations under identical loading conditions. The analysis focuses on comparing Von-Mises stress and deformation to ensure a safety factor (SF). The expected result is an optimized design capable of providing an absolutely rigid working platform with more uniform load distribution compared to the existing design. The hydraulic system will accelerate setup time, while the swivel foot pad ensures stability on sloped surfaces. Overall, this research is expected to enhance the efficiency and precision of print quality in Mobile 3DCP technology.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Pencetakan Beton 3D, UGV (Unmanned Ground Vehicle), Outrigger Hidrolik, Bantalan Kaki Putar, Analisis Elemen Hingga. = 3D Concrete Printing, UGV (Unmanned Ground Vehicle), Hydraulic Outrigger, Swivel Foot Pad, Finite Element Analysis. |
| Subjects: | 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 > TA Engineering (General). Civil engineering (General) > TA645 Structural analysis (Engineering) T Technology > TA Engineering (General). Civil engineering (General) > TA660.F7 Structural frames. |
| Divisions: | Faculty of Vocational > Mechanical Industrial Engineering (D4) |
| Depositing User: | Muhammad Farel Atthaullah |
| Date Deposited: | 10 Jul 2026 04:42 |
| Last Modified: | 10 Jul 2026 04:42 |
| URI: | http://repository.its.ac.id/id/eprint/134610 |
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