Rancang Bangun Kontroller Robot Hexapod Dilengkapi Dengan Lengan 6 Derajat Kebebasan (DOF) Untuk Peningkatan Jangkauan Dan Manipulasi Objek

Sitompul, Agatha Samuel (2026) Rancang Bangun Kontroller Robot Hexapod Dilengkapi Dengan Lengan 6 Derajat Kebebasan (DOF) Untuk Peningkatan Jangkauan Dan Manipulasi Objek. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini membahas perancangan dan implementasi kontroler robot hexapod yang dilengkapi dengan lengan robotik enam derajat kebebasan (6-DOF) sebagai pengembangan dari versi sebelumnya yang menggunakan lengan tiga derajat kebebasan (3-DOF). Pengembangan meliputi peningkatan jangkauan lengan dari 362, 48 mm menjadi 493 mm (peningkatan 36%), penambahan kemampuan kontrol orientasi end-effector penuh (roll, pitch, dan yaw), serta optimalisasi sistem elektronik melalui integrasi mikrokontroler STM32F407 dan Jetson Nano pada satu PCB yang menghasilkan pengurangan ukuran fisik sebesar 25, 94%. Sistem proteksi eFuse juga diperluas dari dua menjadi tujuh komponen kritis untuk meningkatkan keandalan sistem. Pengujian perangkat keras menunjukkan peningkatan efisiensi buck converter dari 69,6– 81,6% menjadi 82–87% disertai penurunan ripple voltage dari 81–98 mV menjadi 54–65 mV. Sistem proteksi eFuse mampu memutus arus hubung singkat dalam waktu 24–48 µs dengan energi termal maksimum 909,19 µJ. Implementasi metode sync write pada komunikasi servo meningkatkan kecepatan pengiriman instruksi lebih dari sepuluh kali lipat, dari 34 ms menjadi 2 ms untuk servo kaki dan 3 ms untuk servo kepala. Komunikasi USB 2.0 antara STM32 dan Jetson Nano menunjukkan kinerja andal dengan bandwidth stabil sekitar 107 kBps tanpa packet loss, bahkan pada kondisi suhu tinggi hingga 72,5 ◦C. Lengan robot 6-DOF dengan metode Quick Inverse Kinematics (QuIK) menunjukkan presisi tinggi dengan galat rata-rata 1,10% (X), 1,16% (Y), dan 1, 24% (Z), sementara kinematika kaki menghasilkan galat rata-rata di bawah 6,5%. Pengujian kerja lengan robot 6-DOF dan 3-DOF dalam melakukan tugas yang sama menunjukkan adanya peningkatan efisiensi waktu rata-rata sebesar 44,07% pada konfigurasi lengan 6-DOF dibandingkan dengan lengan 3-DOF.
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This research discusses the design and implementation of a hexapod robot controller equipped with a six-degree-of-freedom (6-DOF) robotic arm as a development of the previous version that utilized a three-degree-of-freedom (3-DOF) arm. The development includes an increase in the arm’s reach from 362.48 mm to 493 mm (an improvement of 36%), the addition of full end-effector orientation control (roll, pitch, and yaw), and the optimization of the electronic system through the integration of an STM32F407 microcontroller and a Jetson Nano on a single printed circuit board (PCB), resulting in a physical size reduction of 25.94%. The eFuse protection system was also expanded from two to seven critical components to enhance system reliability. Hardware testing shows an improvement in buck converter efficiency from 69.6–81.6% to 82–87%, accompanied by a reduction in ripple voltage from 81–98 mV to 54–65 mV. The eFuse protection system is capable of interrupting short-circuit currents within 24–48 µs with a maximum thermal energy of 909.19 µJ. The implementation of the sync write method in servo communication increases instruction transmission speed by more than ten times, from 34 ms to 2 ms for leg servos and 3 ms for head servos. USB 2.0 communication between the STM32 and Jetson Nano demonstrates reliable performance with a stable bandwidth of approximately 107 kBps without packet loss, even under high-temperature conditions up to 72.5 ◦C. The 6-DOF robotic arm using the Quick Inverse Kinematics (QuIK) method exhibits high precision with average errors of 1.10% (X), 1.16% (Y), and 1.24% (Z), while the leg kinematics produces an average error below 6.5%. Performance testing of the 6-DOF and 3-DOF robotic arms in executing the same task shows an average time efficiency improvement of 44.07% for the 6-DOF configuration compared to the 3-DOF arm. Keywords: Hexapod Robot, 6-DOF Robotic Arm, Inverse Kinematics, STM32, Jetson Nano.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Robot Hexapod, Lengan Robotik 6-DOF, Inverse Kinematics, STM32, Jetson Nano, Hexapod Robot, 6-DOF Robotic Arm, Inverse Kinematics, STM32, Jetson Nano.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Agatha Samuel Sitompul
Date Deposited:	20 Jan 2026 04:20
Last Modified:	20 Jan 2026 04:20
URI:	http://repository.its.ac.id/id/eprint/129803

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