Kajian Perbandingan Desain Robot Kurasi Bibit Kelapa Sawit Terhadap Ganoderma Boninense Dengan Platform Serial Dan Paralel Manipulator

Zakariyah, Mukhammad Idris (2024) Kajian Perbandingan Desain Robot Kurasi Bibit Kelapa Sawit Terhadap Ganoderma Boninense Dengan Platform Serial Dan Paralel Manipulator. Diploma thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pada 2019 hingga 2021 mengalami penurunan produksi kelapa sawit sebesar 2 juta ton. Salah satu penyebabnya diakibatkan oleh penyakit Busuk Pangkal Bawah yang disebabkan oleh ganoderma boninense. Robot yang dilengkapi dengan sensor pendeteksi dan media kurasi dapat mendeteksi integritas batang. Pada penelitian ini dilakukan kajian perbandingan desain robot serial dan paralel manipulator untuk diketahui desain robot yang sesuai kondisi operasi dalam kurasi bibit kelapa sawit. Kajian perbandingan desain berdasarkan analisis operasi kerja dan pembebanan statis. Analisis operasi kerja sesuai karakteristik geometri desain dalam kurasi bibit kelapa sawit. Kajian analisis pembebanan statis sesuai hasil simulasi tegangan ekuivalen di Solidworks. Hasil analisis operasi kerja menunjukkan desain robot serial manipulator mempunyai fleksibilitas, jangkauan, dan presisi yang lebih tinggi. Sedangkan, desain robot paralel mempunyai kelebihan desain sederhana, gerakan efisien, stabilitas tinggi, dan lebih ekonomis. Hasil simulasi tegangan ekuivalen pada robot serial manipulator didapatkan sebesar 54,733 MPa dengan safety factor yaitu 5. Sedangkan, hasil simulasi tegangan ekuivalen pada robot paralel manipulator sebesar 75,137 MPa dengan safety factor yang ideal yaitu 2,72. Kriteria pemilihan desain robot manipulator yaitu stabilitas tinggi, presisi tinggi, kekuatan struktur desain sesuai karakteristik operasi kerja (ideal), dan ekonomis. Sehingga desain robot paralel manipulator dominan lebih sesuai dengan kriteria pemilihan desain robot manipulator.
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In 2019 to 2021, there was a decrease in oil palm production by 2 million tons. One of the causes is caused by Lower Base Rot disease caused by Ganoderma boninense. Robots equipped with detection sensors and curation media can detect stem integrity. In this study, a comparative study of the design of serial and parallel manipulator robots was carried out to find out the robot design that suits the operating conditions in curating oil palm seedlings. The design comparison study is based on the analysis of work operations and static loading. Analysis of work operations based on design geometry characteristics in curating oil palm seedlings. Static loading analysis study based on the results of equivalent stress simulation in Solidworks. The results of the work operation analysis show that the serial robot manipulator design has higher flexibility, range, and precision. Meanwhile, the parallel robot design has the advantages of simple design, efficient movement, high stability, and more economical. The simulation results of the equivalent stress on the serial robot manipulator were found to be 54.733 MPa with a safety factor of 5. Meanwhile, the simulation results of the equivalent stress on the parallel robot manipulator amounted to 75.137 MPa with an ideal safety factor of 2.72. The design selection criteria for manipulator robots are high stability, high precision, design structure strength according to work operation characteristics (ideal), and economical. So that the design of the dominant parallel robot manipulator is more in accordance with the design selection criteria of the robot manipulator.

Item Type:	Thesis (Diploma)
Uncontrolled Keywords:	Analisis Pembebaban statis, Serial Manipulator, Paralel Manipulator, Static Loading Analysis
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics.
Divisions:	Faculty of Vocational > Mechanical Industrial Engineering (D4)
Depositing User:	Mukhammad Idris Zakariyah
Date Deposited:	08 Jan 2025 02:51
Last Modified:	08 Jan 2025 02:51
URI:	http://repository.its.ac.id/id/eprint/116196

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