Rosyada, Hafiedz (2026) Rancang Bangun Crawler Robot Pemanjat Bidang Besi Berbasis Rantai Roll Dengan Adhesi Magnet Permanen Neodymium. Other thesis, Institut Teknologi Speuluh Nopember.
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Abstract
Pekerjaan inspeksi dan perawatan lambung kapal di galangan umumnya dilakukan secara manual pada permukaan vertikal sehingga memiliki risiko kecelakaan kerja yang tinggi. Survei terhadap pekerja galangan kapal di Indonesia menunjukkan bahwa 96,9% pekerja menganggap pekerjaan di ketinggian memiliki risiko jatuh. Penelitian ini bertujuan merancang sistem crawler robot pemanjat dinding berbasis rantai roll dengan adhesi magnet permanen neodymium yang mampu membawa beban besar pada permukaan baja. Metode penelitian meliputi penentuan spesifikasi rantai dan sprocket, analisis kebutuhan gaya adhesi berdasarkan fenomena sliding dan overturning, simulasi magnetostatik menggunakan ANSYS Maxwell untuk mengevaluasi pengaruh air gap dan variasi konfigurasi magnet, serta pengujian pembebanan robot. Hasil analisis menunjukkan bahwa gaya adhesi minimum untuk mencegah sliding sebesar 125,834 N per segmen pada kemiringan 11,5°, sedangkan untuk mencegah overturning sebesar 98,713 N pada kemiringan 90°. Konfigurasi magnet terbaik adalah konfigurasi C dengan magnet neodymium N52 ukuran 40 x 20 x 5 mm mendapatkan gaya adhesi 1179,525 N pada air gap 0 mm. Robot mampu menopang beban hingga 80 kg pada kondisi statis dan 60 kg pada kondisi dinamis. Hasil penelitian menunjukkan bahwa sistem crawler yang dirancang memenuhi kebutuhan gaya adhesi dan memiliki kemampuan pembebanan yang memadai untuk mendukung inspeksi dan perawatan lambung kapal secara lebih aman.
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Hull inspection and maintenance activities in shipyards are generally performed manually on vertical steel surfaces, exposing workers to a high risk of occupational accidents. A survey of Indonesian shipyard workers found that 96.9% perceived working at height as having a risk of falling. This study aims to design a roll-chain-based crawler system for a permanent neodymium magnet wall-climbing robot capable of carrying heavy loads on steel surfaces. The research methodology includes selecting the roll chain and sprocket specifications, analyzing the required magnetic adhesion force based on sliding and overturning failure modes, performing magnetostatic simulations using ANSYS Maxwell to evaluate the effects of air gap and magnet configuration, and conducting load-carrying experiments. The analysis showed that the minimum adhesion force required to prevent sliding was 125.834 N per segment at an inclination angle of 11.5°, while the minimum adhesion force required to prevent overturning was 98,713 N per segment at an inclination angle of 90°. Configuration C with neodymium magnet 40 x 20 x 5 mm produced the highest adhesion force of 1179,525 N at a 0 mm air gap. Experimental results demonstrated that the robot could support loads of up to 80 kg under static conditions and 60 kg under dynamic conditions. The proposed crawler system satisfies the required adhesion force and demonstrates sufficient load-carrying capability to support safer hull inspection and maintenance operations.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Robot pemanjat dinding, Crawler robot, Adhesi magnet permanen, Kegagalan sliding dan overturning, Gaya adhesi dan air gap, Simulasi magnetostatic, Uji pembebanan, Wall‑climbing robot, crawler robot, permanent magnetic adhesion, sliding and overturning failure, adhesion force and air gap, magnetostatic simulation, load testing. |
| Subjects: | Q Science > QC Physics |
| Divisions: | Faculty of Vocational > Mechanical Industrial Engineering (D4) |
| Depositing User: | Hafiedz Rosyada |
| Date Deposited: | 01 Aug 2026 01:53 |
| Last Modified: | 01 Aug 2026 01:53 |
| URI: | http://repository.its.ac.id/id/eprint/141317 |
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