Analisis Kontak Nonlinier Dan Validasi Eksperimental Pada Gripper Hibrida Pla–Tpu Berstruktur Re-Entrant Auxetic Untuk Penjepitan Objek Rapuh

Al Jabbaar, Arasy (2026) Analisis Kontak Nonlinier Dan Validasi Eksperimental Pada Gripper Hibrida Pla–Tpu Berstruktur Re-Entrant Auxetic Untuk Penjepitan Objek Rapuh. Other thesis, Insitut Teknologi Sepuluh Nopember.

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Abstract

Penanganan objek rapuh memerlukan gripper yang mampu menghasilkan gaya cengkeram yang cukup tanpa menimbulkan konsentrasi tekanan berlebihan. Penelitian ini bertujuan menganalisis dan mengoptimasi geometri struktur re-entrant auxetic pada gripper hibrida PLA–TPU untuk penjepitan telur ayam. PLA digunakan sebagai struktur penopang yang kaku, sedangkan TPU 95A digunakan sebagai elemen auxetic yang fleksibel dan adaptif. Metode penelitian meliputi pemodelan CAD, analisis elemen hingga statis nonlinier menggunakan ANSYS Workbench, analisis korelasi parameter, optimasi geometri, evaluasi transmisi gaya dan kestabilan deformasi relatif, serta validasi eksperimental berdasarkan hubungan displacement–reaction force dan pola deformasi. Konfigurasi terpilih memiliki ketebalan pad 1,5 mm, ketebalan strut 0,7 mm, sudut re-entrant 62°, tujuh sel arah-x, dan rasio height/length sebesar 1,5213. Pada displacement 8 mm, desain hasil optimasi menghasilkan tekanan kontak maksimum sebesar 0,50793 MPa dan luas kontak sebesar 782,92 mm². Dibandingkan desain baseline, desain hasil optimasi meningkatkan luas kontak sekitar 14% serta menurunkan tekanan kontak maksimum dari 1,0222 MPa menjadi 0,50793 MPa. Nilai force transmissibility desain hasil optimasi meningkat dari 0,814% pada displacement 1 mm menjadi 8,424% pada 8 mm, lebih rendah daripada desain baseline yang mencapai 11,984% pada kondisi akhir. Analisis eigenvalue buckling menunjukkan bahwa load multiplier mode pertama desain hasil optimasi sebesar 5,556×10^(-3), atau sekitar 10,5 kali lebih besar daripada desain baseline, sehingga desain hasil optimasi memiliki kestabilan deformasi relatif yang lebih baik. Validasi gaya reaksi menunjukkan tren nonlinier yang serupa antara simulasi dan eksperimen, dengan rata-rata error sebesar 11,53%. Pola deformasi keduanya juga menunjukkan kecenderungan yang sama, yaitu deformasi berkembang dari bagian tengah dan menyebar mengikuti kontur objek. Hasil penelitian menunjukkan bahwa optimasi geometri mampu meningkatkan adaptivitas kontak, mengurangi konsentrasi tekanan, dan menghasilkan respons transmisi gaya yang lebih terkendali pada penjepitan objek rapuh.
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Fragile-object handling requires a gripper capable of generating sufficient grasping force without producing excessive localized pressure. This study aims to analyze and optimize the geometry of a re-entrant auxetic structure in a PLA–TPU hybrid gripper for grasping chicken eggs. PLA is used as the rigid supporting structure, while TPU 95A functions as a flexible and adaptive auxetic element. The research methods include CAD modeling, nonlinear static finite element analysis using ANSYS Workbench, parameter-correlation analysis, geometric optimization, force-transmission and relative deformation-stability evaluation, and experimental validation based on the displacement–reaction force relationship and deformation patterns. The selected configuration consists of a 1.5 mm pad thickness, a 0.7 mm strut thickness, a 62° re-entrant angle, seven cells in the x-direction, and a height-to-length ratio of 1.5213. At a displacement of 8 mm, the optimized design produced a maximum contact pressure of 0.50793 MPa and a contact area of 782.92 mm². Compared with the baseline design, the optimized design increased the contact area by approximately 14% and reduced the maximum contact pressure from 1.0222 MPa to 0.50793 MPa. The force transmissibility of the optimized design increased from 0.814% at a displacement of 1 mm to 8.424% at 8 mm, which was lower than the baseline value of 11.984% under the final loading condition. The eigenvalue buckling analysis showed that the first-mode load multiplier of the optimized design was $5.556 \times 10^{-3}$, approximately 10.5 times higher than that of the baseline design, indicating better relative deformation stability. Reaction-force validation showed similar nonlinear trends between the simulation and experimental results, with an average error of 11.53%. Both results also exhibited similar deformation patterns, in which deformation developed from the central region and gradually spread to follow the object contour. These results demonstrate that geometric optimization improves contact adaptability, reduces pressure concentration, and provides more controlled force-transmission behavior during fragile-object grasping.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	gripper hibrida, PLA–TPU, re-entrant auxetic, optimasi geometri, kontak nonlinier, transmisi gaya
Subjects:	T Technology > TJ Mechanical engineering and machinery
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	Arasy Al Jabar
Date Deposited:	04 Aug 2026 01:35
Last Modified:	04 Aug 2026 01:35
URI:	http://repository.its.ac.id/id/eprint/142578

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