Optimasi Topologi Pada Komponen Lower Arm Robot Industri Untuk Reduksi Massa Dan Peningkatan Potensi Efisiensi Daya

Prasetyo, Alief Alfarizi (2026) Optimasi Topologi Pada Komponen Lower Arm Robot Industri Untuk Reduksi Massa Dan Peningkatan Potensi Efisiensi Daya. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini berfokus pada perancangan ulang komponen Lower Arm robot industri KUKA KR 16-2 menggunakan metode optimasi topologi berbasis Finite Element Analysis (FEA) untuk mengurangi redundansi material struktural. Desain konvensional pabrikan dinilai masif dengan berat 32,02 kg, yang berdampak pada peningkatan momen inersia dan membebani daya aktuator pada motor sumbu Axis 2. Komputasi numerik dieksekusi melalui perangkat lunak ANSYS Workbench menggunakan penetapan material Aluminium 5083-H111 dengan target retensi volume sisa sebesar 60%. Hasil analisis kuantitatif menunjukkan bahwa pemodelan struktur baru sukses menurunkan massa sebesar 40,54%, menghasilkan berat akhir sebesar 19,04 kg. Pengurangan bobot secara fisik tersebut berhasil memangkas momen inersia total sistem robot sebesar 2,07% (dari 116,608 kg.m² menjadi 114,195 kg.m²) dan mereduksi kebutuhan beban torsi pada motor sebesar 6,5%, yakni turun ke angka 2.562,96 Nm. Secara perhitungan ekonomi dan keberlanjutan energi, modifikasi lightweight ini menghemat masukan daya listrik sebesar 571,08 Watt. Hal ini berpotensi memberikan pemotongan terhadap konsumsi listrik sebesar 4.797,068 kWh per tahun, yang setara dengan proyeksi penghematan biaya operasional industri mencapai Rp5.347.483,58 per tahun untuk setiap operasional satu unit robot. Validasi mekanik secara komprehensif mengonfirmasi bahwa desain baru beroperasi dalam batas parameter sangat aman dengan temuan tegangan Von Mises maksimum di angka 16,66 MPa (jauh di bawah batas luluh material sebesar 125 MPa). Nilai simpangan deformasi maksimum tercatat pada 0,026 mm, yang tetap memenuhi dan menjaga standar ketelitian posisi (positioning repeatability) bawaan robot sebesar ±0,05 mm. Riset ini membuktikan optimasi topologi mampu melonjakkan efisiensi daya sistem robotik secara nyata tanpa mendegradasi presisi gerak dan ketahanan strukturnya.
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This research focuses on redesigning the Lower Arm component of the KUKA KR 16-2 industrial robot using a Finite Element Analysis (FEA)-based topology optimization method to minimize structural material redundancy. The conventional factory design is structurally massive, weighing 32.02 kg, which escalates the moment of inertia and heavily burdens the power demand of the Axis 2 motor actuator. Numerical computations were executed via ANSYS Workbench applying Aluminium 5083-H111 material properties alongside a 60% volume retention target. Quantitative results demonstrated that the proposed structure successfully cut the physical mass by 40.54%, achieving a final optimized weight of 19.04 kg. This weight reduction subsequently lowered the robot system's total moment of inertia by 2.07% (from 116.608 kg.m² to 114.195 kg.m²) and reduced the overall motor torque requirement by 6.5%, bringing it down to 2,562.96 Nm. In terms of economic value and energy sustainability, this lightweight modification saves 571.08 Watts of electrical input power. This creates a potential electricity consumption cutback of 4,797.068 kWh annually, which equates to projected industrial operational savings of IDR 5,347,483.58 per year for each functioning robot unit. Comprehensive mechanical validations confirmed that the new design operates well within a safe threshold, showing a maximum Von Mises stress of 16.66 MPa (substantially below the material yield limit of 125 MPa). Furthermore, the maximum deformation displacement is recorded at 0.026 mm, successfully meeting and maintaining the robot’s default positioning repeatability standard of ±0.05 mm. This research substantiates that topology optimization practically boosts the power efficiency of robotic systems without degrading kinetic precision or structural resilience.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Efisiensi Daya, Finite Element Analysis (FEA), KUKA KR 16-2, Lower Arm, Optimasi Topologi, Power Efficiency, Topology Optimization.
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ165 Energy storage. T Technology > TJ Mechanical engineering and machinery > TJ230 Machine design
Divisions:	Faculty of Vocational > Mechanical Industrial Engineering (D4)
Depositing User:	Alief Alfarizi Prasetyo
Date Deposited:	28 Jul 2026 07:45
Last Modified:	28 Jul 2026 07:45
URI:	http://repository.its.ac.id/id/eprint/138857

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