Perancangan Mekanisme Negative Pressure Adhesion Pada Robot Wall-Climbing Untuk Aplikasi Pembersihan Gedung

Drata, Aditya Juan (2026) Perancangan Mekanisme Negative Pressure Adhesion Pada Robot Wall-Climbing Untuk Aplikasi Pembersihan Gedung. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Robot wall-climbing merupakan solusi untuk meningkatkan keselamatan pada pekerjaan pembersihan gedung di permukaan vertikal. Keberhasilan robot sangat bergantung pada mekanisme negative pressure adhesion dalam menghasilkan gaya adhesi yang mampu menopang berat robot dan payload. Namun, pengaruh variasi payload terhadap kebutuhan tekanan negatif dan kinerja sistem adhesi masih belum banyak dikaji. Oleh karena itu, penelitian ini bertujuan merancang mekanisme negative pressure adhesion yang mampu menghasilkan adhesi stabil untuk aplikasi pembersihan gedung. Penelitian dilakukan melalui pendekatan perancangan dan studi eksperimen menggunakan single vacuum chamber berukuran 240 mm × 170 mm, sealing device berbahan PE Foam, dan motor vakum Nidec V55 36 V 350 W. Pengujian dilakukan pada permukaan kaca vertikal dengan variasi payload 0–8,25 kg. Parameter yang dianalisis meliputi tekanan negatif, gaya adhesi, dan konsumsi daya motor vakum. Hasil penelitian menunjukkan bahwa sistem menghasilkan tekanan negatif sebesar 5,96 kPa pada payload desain dengan selisih 3,1% terhadap nilai teoritis. Sistem mampu mempertahankan adhesi hingga payload maksimum 8,25 kg dengan tekanan negatif 13 kPa, gaya adhesi 530,4 N, dan konsumsi daya maksimum 89,58 W. Hasil tersebut menunjukkan bahwa mekanisme negative pressure adhesion yang dirancang mampu memberikan adhesi yang stabil dan memenuhi kebutuhan robot wall-climbing untuk aplikasi pembersihan gedung.
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Wall-climbing robots have emerged as a promising solution for building cleaning on vertical surfaces, reducing the safety risks associated with manual operations at height. The performance of these robots highly depends on the negative pressure adhesion mechanism, which must generate sufficient adhesion force to support the robot and its payload. However, the effect of payload variation on the required negative pressure and adhesion system performance has not been extensively investigated. Therefore, this study aims to design a negative pressure adhesion mechanism capable of providing stable adhesion for building cleaning applications. The study was conducted using a design and experimental approach. The adhesion system consists of a 240 mm × 170 mm single vacuum chamber, a PE foam sealing device, and a 36 V, 350 W Nidec V55 vacuum motor. Experimental tests were performed on a vertical glass surface with payload variations ranging from 0 to 8.25 kg. The evaluated parameters included negative pressure, adhesion force, and vacuum motor power consumption. The results showed that the proposed system generated a negative pressure of 5.96 kPa at the design payload, with a 3.1% deviation from the theoretical value. The system successfully maintained stable adhesion up to a maximum payload of 8.25 kg, achieving a maximum negative pressure of 13 kPa, an adhesion force of 530.4 N, and a maximum power consumption of 89.58 W. These findings demonstrate that the proposed negative pressure adhesion mechanism provides stable adhesion and is suitable for wall-climbing robots used in building cleaning applications.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	wall-climbing robot, negative pressure adhesion, vacuum chamber, PE Foam, motor vakum.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots
Divisions:	Faculty of Vocational > Mechanical Industrial Engineering (D4)
Depositing User:	Aditya Juan Drata
Date Deposited:	01 Aug 2026 07:54
Last Modified:	01 Aug 2026 07:54
URI:	http://repository.its.ac.id/id/eprint/141932

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