Budi, Dwi Prasetiyo (2018) Robot Manipulator 3 Degree Of Freedom (DOF) Pada Prototype ROV (Remotely Operated Vehicle) Untuk Meletakkan Terumbu Karang Ke Penangkaran Menggunakan Inverse Kinematic. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Terumbu karang di perairan Indonesia sudah banyak mengalami kerusakan. Upaya yang dilakukan yaitu dengan cara melakukan penanaman kembali terumbu karang. Penanaman dilakukan dengan meletakan terumbu karang oleh penyelam memiliki banyak resiko diantaranya serangan hiu dan biaya yang mahal. Robot manipulator yang diletakan pada ROV dapat menggantikan penyelam untuk meletakkan bibit terumbu karang ke tempat penangkaran. Pada tugas akhir ini, dibangun robot manipulator yang memiliki 3 DOF (Degree of Freedom) yang terdiri dari tiga joint revolute dan sebuah end effector berupa gripper. Pada setiap joint menggunakan motor servo DS3218 dengan torsi 20 kgcm sebagai penggerak dan dikontrol dengan arduino mega 2560. Untuk menggerakkan robot manipulator membutuhkan metode inverse kinematic. Dalam menyelesaikan metode ini, pertama yang dilakukan adalah menyusun gambar geometri dari robot manipulator dan mencari parameterparameter menggunakan metode Denavit Hartenberg. Setelah didapatkan nilai dari parameter-parameter tersebut, dilakukan analisis forward kinematic yang dilanjutkan dengan analisis inverse kinematic. Dengan menggunakan metode ini, robot manipulator dapat memindahkan tiga bibit terumbu karang dengan titik yang sudah ditentukan. Berdasarkan hasil pengujian dengan memindahkan suatu objek dari titik A ke titik B mempertimbangkan komponen sumbu x, y, dan z diperoleh error rata-rata pada sumbu x sebesar 3,26%, sumbu y sebesar 3,27%, dan sumbu z sebesar 1,36%.
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Coral reefs in the sea of Indonesia had much damaged. Efforts were made by way of how to re-planting coral reefs. Coral reefs planting process by divers had many risks including shark attacks and high cost. Robot manipulator that placed in the ROV could replace divers to put coral reef seeds into breeding. In this final project, the robot manipulator was designed with 3 DOF (Degree of Freedom that composed of three joint revolute and an end effector in the form of gripper. On each joint, was used DS3218 servo motor with 20kg torque as a propulsion and controlled by an Arduino mega 2560. The robot manipulator required inverse kinematic method to moved it as expected. To make this method completed, the geometry image of the robot manipulator was compiled and then Denavit Hartenberg method used to find the parameters of robot manipulator. After the values from these parameters were obtained, a forward kinematic method followed by inverse kinematic method were analyzed, so the inverse kinematic method's formulas were found. By using this method, the robot manipulator could moved three seeds of coral reef with a predetermined point. From the test result of the robot manipulator, when the objects moved from point A to point B with the x, y, and z axis components considered found that, the average errors 3.26% on the x axis, 3.27% on y axis , and 1.36 % on the z axis of .
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSEO 629.892 Bud r-1 2018 |
| Uncontrolled Keywords: | inverse kinematic, robot manipulator, parameter DH |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Faculty of Vocational > 36304-Automation Electronic Engineering |
| Depositing User: | Dwi Prasetiyo Budi |
| Date Deposited: | 07 Oct 2021 16:01 |
| Last Modified: | 07 Oct 2021 16:01 |
| URI: | http://repository.its.ac.id/id/eprint/57538 |
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