Perancangan Mekanisme Track Wheel Berbasis Timing Belt Pada Robot Wall-Climbing Untuk Aplikasi Pembersihan Gedung

Atmajaya, Bintang (2026) Perancangan Mekanisme Track Wheel Berbasis Timing Belt Pada Robot Wall-Climbing Untuk Aplikasi Pembersihan Gedung. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pembersihan fasad gedung kaca secara konvensional memiliki risiko tinggi karena melibatkan pekerja pada ketinggian. Penelitian ini bertujuan merancang dan membangun mekanisme track wheel berbasis timing belt pada robot wall-climbing dengan sistem adhesi negative pressure. Tahapan penelitian meliputi analisis gaya, pemilihan komponen, pembuatan prototipe, pengujian fungsional, optimasi topologi, dan analisis struktur menggunakan metode elemen hingga. Sistem penggerak menggunakan dua motor PG45 dan timing belt T10 dengan lebar 70 mm. Hasil perhitungan menunjukkan kebutuhan gaya adhesi minimum sebesar 167,74 N. Prototipe berhasil direalisasikan dan pengujian fungsional menunjukkan bahwa mekanisme track wheel dapat menggerakkan robot. Hasil simulasi frame PLA+ menghasilkan tegangan von Mises maksimum sebesar 4,53 MPa dan deformasi maksimum sebesar 0,453 mm, sehingga struktur dinyatakan aman terhadap pembebanan yang diberikan. Dengan demikian, mekanisme yang dirancang berhasil dibuat dan memenuhi kebutuhan penggerak serta kekuatan struktur robot.
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Conventional cleaning of glass building façades poses a high level of risk because it involves workers operating at height. This study aims to design and manufacture a timing belt-based track wheel mechanism for a wall-climbing robot equipped with a negative-pressure adhesion system. The research stages included force analysis, component selection, prototype manufacturing, functional testing, topology optimization, and structural analysis using the finite element method. The drive system employs two PG45 motors and T10 timing belts with a width of 70 mm. The calculation results indicate that a minimum adhesion force of 167.74 N is required. The prototype was successfully manufactured, and functional testing demonstrated that the track wheel mechanism was capable of driving the robot. The simulation results of the PLA+ frame showed a maximum von Mises stress of 4.53 MPa and a maximum deformation of 0.453 mm, indicating that the structure was safe under the applied loading conditions. Therefore, the proposed mechanism was successfully manufactured and fulfilled the robot’s drive-system and structural-strength requirements.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Wall-Climbing Robot, Track Wheel, Timing Belt, Negative Pressure, Finite Element Analysis, Topology Optimization. Wall-Climbing Robot, Track Wheel, Timing Belt, Negative Pressure Adhesion, Finite Element Analysis, Topology Optimization.
Subjects:	Q Science > Q Science (General) Q Science > QA Mathematics > QA76 Computer software Q Science > QA Mathematics > QA76.F56 Data structures (Computer science)
Divisions:	Faculty of Vocational > Mechanical Industrial Engineering (D4)
Depositing User:	Bintang Atmajaya
Date Deposited:	03 Aug 2026 07:32
Last Modified:	03 Aug 2026 07:32
URI:	http://repository.its.ac.id/id/eprint/142297

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