Rancang Bangun Tangan Robot Gripper

Pamungkas, Andiawan Mahendra (2019) Rancang Bangun Tangan Robot Gripper. Diploma thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penggunaan tangan robot dalam industri saat ini terbatas pada penjepit dua atau tiga jari yang masih terbilang kasar. Pada tugas akhir ini dibuat rancang bangun tangan robot gripper sebagai alat bantu yang dapat dikendalikan secara wireless sehingga dapat dioperasikan jarak jauh pada tempat yang berbahaya atau tempat yang susah dijangkau oleh operator. Untuk operasi dari tangan robot ini menggunakan motor servo sebagai aktuator dan flex sensor sebagai nilai masukan dan pembacaan nilai feedback. Motor servo digunakan untuk menggerakkan masing-masing jari. Jari tangan digerakkan dengan menarik tali yang dikaitkan pada ujung jari tangan dan ujung motor servo. Motor servo yang digunakan yakni SG90 yang memiliki torsi sebesar 1,8 kg. Berdasarkan data yang telah diolah didapatkan nilai error setiap jari tangan robot pada sudut 300 pada ibu jari sebesar 0.67%, jari telunjuk sebesar 4.67%, jari tengah sebesar 3%, jari manis sebesar 3.67%, dan jari kelingking sebesar 2.67%.
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The use of robotic hands in the industry is currently limited for two or three finger clamps which are still roughly rough. In this final project the gripper robot hand design is made as a tool that can be controlled wirelessly so that it can be operated remotely in a dangerous place or a place that is difficult to reach by operators. For the operation of the robot's hand it uses a servo motor as an actuator and flex sensor as the input value and read the feedback value. A servo motor is used to move each finger. The fingers are moved by pulling the rope that is connected to the fingertips and the end of the servo motor. The servo motor used is SG90 which has a torque of 1.8 kg. Based on the data that has been processed, the error value of each robot finger is obtained at an angle of 30 in the thumb of 0.67%, the index finger is 4.67%, the middle finger is 3%, the ring finger is 3.67%, and the little finger is 2.67%.

Item Type:	Thesis (Diploma)
Uncontrolled Keywords:	Tangan Robot, Flex Sensor, Servo Motor, Hand Robot, Flex Sensor, Servo Motor
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Vocational > Instrumentation Engineering
Depositing User:	Andiawan Mahendra P
Date Deposited:	13 Aug 2026 08:21
Last Modified:	13 Aug 2026 08:21
URI:	http://repository.its.ac.id/id/eprint/69931

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