Rancang Bangun Platform Kursi Roda Elektrik Dengan Omnidirectional-Drive dan Sistem 2-Dof Seat-Tilt Balancer

Haq, Ghazwu Fikril (2023) Rancang Bangun Platform Kursi Roda Elektrik Dengan Omnidirectional-Drive dan Sistem 2-Dof Seat-Tilt Balancer. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kursi roda merupakan salah satu alat bantu penyandang disabilitas, yang digunakan dalam memenuhi kebutuhan mobilitasnya. Sayangnya, konsep kursi roda yang umum digunakan para penyandang hanya mampu memenuhi gerak maju dan putar saja. Sedangkan sebagai manusia seutuhnya, para penyandang juga tetap memiliki hak bergerak dalam segala arah. Seperti kemampuan gerak serong dan geser yang juga dibutuhkan. Melalui Tugas Akhir ini, penulis berhasil merancang kursi roda elektrik yang terdiri dari platform omni dan sistem balancer dengan dimensi panjang alat 79cm, lebar 62cm, dan tinggi 89cm. Serta spesifikasi baterai berkapasitas 40Ah dengan tegangan 24V. Penulis telah membangun kerangka mekanik sistem penyeimbang 2-DoF berdasarkan teori mekanisme paralel serta nilai masukan sensor IMU dalam mengkompensasi kemiringan pitch dan roll yang terjadi pada alas duduk. Untuk membuktikan kinerja sistem tersebut, penulis membuat prototipe sederhana untuk menguji kemampuan desain makanik dan algoritma pemrograman dalam mempertahankan kemiringan pitch dan roll. Hasilnya, pengujian prototipe penyeimbang alas duduk dapat bekerja dengan baik. Dengan memanfaatkan teori robot holonomik, penulis melakukan konfigurasi roda omni alternate sebanyak 6 buah. Dimana desain model kinematika mundur dengan metode geometri dilakukan pada penelitian ini. Dari model tersebutlah, penulis mendapatkan nilai set point pada kontrol PID terhadap kecepatan tiap motor guna mendapatkan stabilitas navigasi segala arah yang baik. Hasil pengujian gerak maju sejauh 120 cm pada permukaan lantai rumah, menunjukkan dampak PID terhadap stabilitas navigasi dengan perintah gerak maju 30 rpm hanya menghasilkan rerata pergeseran sejauh 3.77 cm. Sedangkan dengan perintah yang sama, tanpa kontrol PID membuat navigasi bergeser jauh hingga batas arena uji yakni 124 cm. Dari 3 variasi kecepatan yang diuji dengan perintah gerak maju, menunjukkan navigasi dengan PID akan bergeser semakin jauh seiring dengan kecepatan yang tinggi pula. Sebaliknya pada navigasi tanpa PID, akan mengakibatkan pergeseran yang jauh pada kecepatan yang rendah. Hal ini diakibatkan oleh kelembaman roda yang berbeda-beda, tidak dapat diatasi dalam sistem kontrol open loop. Seluruh proses komputasi dan kontrol tersebut, berhasil dilakukan oleh mikrokontroller STM32.
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A wheelchair is a tool for persons with disabilities that is used to meet their mobility needs. Unfortunately, the concept of wheelchairs commonly used by persons with disabilities is only capable of fulfilling forward and rotating motions. Meanwhile, as whole human beings, persons with disabilities also have the right to move in all directions. Such as oblique and sliding motion capabilities are also required. Through this Final Project, the author succeeded in designing an electric wheelchair consisting of an omni platform and a balancer system with dimensions of 79cm in length, 62cm in width, and 89cm in height. As well as battery specifications with a capacity of 40Ah with a voltage of 24V. The author has built a mechanical frame of a 2-DoF balancing system based on parallel mechanism theory and IMU sensor input values to compensate for pitch and roll tilt that occurs in the bearing seats. To prove the performance of the system, the authors made a simple prototype to test the ability of the mechanical design and programming algorithms to maintain the pitch and roll slope. As a result, testing of the seat cushion balancing prototype went well. By utilizing the holonomic robot theory, the author configured 6 alternate type omni wheels. Where is the design of the inverse kinematics model with the geometric method carried out in this study. From this model the authors obtain the PID control set point values for the speed of each motor in order to obtain good navigation stability. The results of the 120 cm forward motion test on the floor surface of the house, show the impact of PID on navigation stability with the 30 rpm advance command only resulting in an average displacement of 3.77 cm. Meanwhile, with the same command, without PID control, navigation shifted far to the limit of the test area, which is 124 cm. From the 3 speed variations tested with the forward motion command, it appears that navigation with PID will shift further along with high speed. Conversely, navigation without a PID will result in long shifts at low speed. This is due to the inertia of the different wheels, which cannot be overcome in an open loop control system. All computing and control processes were successfully carried out by the STM32 microcontroller.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Electric Wheelchair, Omni-directional, Balancer, PID, STM32, Kursi Roda Elektrik, Segala Arah, Penyeimbang, PID, STM32
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2681.B47 Electric motors, Direct current. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2851 Voltage regulators. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2861 Electric relays. Protective relays--Security measures. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2945 Lead-acid batteries.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Ghazwu Fikril Haq
Date Deposited:	26 Jul 2023 05:14
Last Modified:	26 Jul 2023 05:14
URI:	http://repository.its.ac.id/id/eprint/98957

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