Zazuli, Moh Ismarintan (2019) Sistem Kendali Untuk Robot Mobil 4 Roda Menggunakan Mekanisme Swerve Drive. Diploma thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
digunakan motor DC yang dihubungkan dengan gir dan roda, serta digunakan rotarry encoder untuk mengetahui nilai sudut pada roda. Sudut dari roda akan ditentukan berdasarkan arah tujuan dari robot. Berdasarkan hasil pengujian keseluruhan sistem robot dapat bergerak secara omnidirectional yaitu bergererak ke segala arah, ke kanan, kiri, depan dan ke belakang tanpa harus memutar arah hadap robot yaitu dengan memutar steering roda dimana nilai kesalahan terbesar dari sudut steering roda tersebut adalah 1,8 derajat dan nilai rata-rata kesalahan 0,47 derajat terhadap semua arah tujuan.
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Cars robots are robots that can run automatically in accordance with a predetermined path. and made to transport goods from one place to a certain place. To be able to move in all directions without turning the angle of the robot, the wheel mechanism is added which can rotate in all directions independently on each wheel. So that the robot movement is more dynamic and efficient In the Swerve Drive mechanism 4 steering wheels are used which can rotate in all directions and each wheel determines the direction of each wheel's turning angle based on the direction of the robot. To rotate the steering wheel of the robot wheel, a DC motor is connected to the gear and wheels, and rotarry encoder is used to determine the angle value of the wheel. The angle of the wheel will be determined based on the direction of the direction of the robot Based on the results of testing the entire system of robots can move omnidirectionally that is moving in all directions, right, left, front and back without having to rotate the direction of the robot by rotating the steering wheel where the error value from the steering wheel angle is 1,8 degrees towards the direction, and the average error value is 0,47 degrees for every direction .
| Item Type: | Thesis (Diploma) |
|---|---|
| Uncontrolled Keywords: | Swerve Drive,Abu Robocon, Omni Directional Robot |
| Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL210 Automobiles--Lubrication systems. |
| Divisions: | Faculty of Vocational > 36304-Automation Electronic Engineering |
| Depositing User: | Moh Ismarintan Zazuli |
| Date Deposited: | 10 Aug 2026 06:41 |
| Last Modified: | 10 Aug 2026 06:41 |
| URI: | http://repository.its.ac.id/id/eprint/70703 |
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