Desain Suspended Cable Driven Parallel Robot dengan Orientasi Tetap Berdasarkan Interference-free Workspace

Handojo, Vincentius Adiyanto (2018) Desain Suspended Cable Driven Parallel Robot dengan Orientasi Tetap Berdasarkan Interference-free Workspace. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Proses evakuasi korban bencana alam sangatlah sulit, mengingat keterbatasan kemampuan para tim penyelamat dan alat bantu yang masih mempunyai cakupan daerah kerja yang relatif sempit. Cable driven parallel robot (CDPR) merupakan sebuah robot yang dapat membantu proses evakuasi dan memiliki jangkauan yang luas serta kecepatan mobilitas yang tinggi. Penelitian kali ini bertujuan untuk mendapatkan geometric model, static model, dan kinematic model dari Cable Driven Parallel berdasarkan parameter desain yang telah ditentukan. Selain itu, tujuan dari penelitian ini adalah mendapatkan dimensi (panjang, lebar, tinggi) platform dan sususan kabel dari base ke platform agar mencapai interference-free workspace terbesar. Robot ini membutuhkan analisa yang akurat agar memenuhi tujuannya. Analisa tersebut antara lain adalah wrench feasible workspace (WFW), twist feasible workspace (TFW), cable to cable interference, dan cable to platform interference. Wrench feasible workspace merupakan sebuah proses pengujian statik CDPR. Twist feasible workspace bertujuan untuk menguji robot dari segi kinematiknya. Cable-cable interference dan cable-platform interference secara berurutan bertujuan untuk menghindari suatu tabrakan antar kabel dengan kabel dan kabel dengan platform CDPR. Penelitian dibagi menjadi tiga studi kasus. Perbedaan setiap studi kasus berada pada wrench external (gaya dan momen) yang berkerja pada mobile platform. Desain optimum telah didapatkan dari setiap studi kasus berdasarkan overall workspace terbesar. Pada studi kasus 1 didapatkan dua desain dengan workspace terbesar, yaitu mencapai 64,8% volume jangkauan robot. Pada studi kasus 2 menghasilkan tujuh desain dengan workspace terbesar, yaitu mencapai 19,6% dari volume jangkauan robot. Pada studi kasus 3 didapatkan empat desain dengan workspace terbesar, yaitu mencapai 10,6% dari volume jangkauan robot. ========================================================================================================== The evacuation process of natural disaster would be a difficult job, seeing that there are limits to the abilities of rescue teams as human beings and tools that exist right now still have a narrow workspace. Cable driven parallel robot (CDPR) is a robot which are designed to help evacuations. It has a large workspace and high mobility. This research was conducted in order to obtain the geometric model, static model, dan kinematic model of Cable Driven Parallel Robot based on pre-determined design parameters. In addition, the purpose of this research is also to get dimensions (length, width, and height) of the mobile platform and cable arrangements of the robot from base to mobile platform in order to achieve the largest interference-free workspace. The designing of this robot requires accurate analyses to achieve its objectives. The analyses include wrench feasible workspace (WFW), twist feasible workspace (TFW), cable to cable interference, and cable to platform interference. Wrench feasible workspace is a CDPR static testing. Twist feasible workspace aim to test kinematics of the robot. Cable to cable interference and cable to platform interference aim to avoid collision beetwen cables and between CDPR’s platform and cables, respectively. This study will be divided into three case studies. The Difference between each case study is the external wrench (forces and moments) that are applied on the mobile platform. The optimum design has been generated from each case study based on the largest overall workspace. In the first case study, two designs with the largest workspace are generated, which reached 64,8% of the robot’s range. In the second case study, seven designs with the largest workspace reaching 19,6% of the robot’s range are produced. In the third case study, four designs with the largest workspace are generated, which reached 10,6% of the robot’s range.

Item Type: Thesis (Undergraduate)
Additional Information: RSM 629.892 Han d-1 3100018074851
Uncontrolled Keywords: Cabel Driven Parallel Robot, wrench feasible workspace, twist feasible workspace, cable-cable inteference, cable-platform inteference.
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics.
Divisions: Faculty of Industrial Technology > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User: Vincentius Adiyanto Handojo
Date Deposited: 28 Mar 2020 00:46
Last Modified: 28 Mar 2020 00:46
URI: https://repository.its.ac.id/id/eprint/50213

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