RANCANG BANGUN STRUKTUR LENGAN ROBOT MANIPULATOR KAPASITAS 1,25 KGF

ADAM NAUFAL SETIAWAN, . (2022) RANCANG BANGUN STRUKTUR LENGAN ROBOT MANIPULATOR KAPASITAS 1,25 KGF. Sarjana thesis, UNIVERSITAS NEGERI JAKARTA.

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Abstract

Robot manipulator dapat disebut robot tangan karena memiliki bentuk dan fungsi sebagai tangan manusia seperti memindahkan benda. Lengan robot merupakan salah satu komponen dasarnya. Penelitian ini bertujuan menghasilkan desain struktur lengan dan komponen penyusun lengan robot manipulator untuk memindahkan beban 1,25 kgf, mendapatkan selisih perhitungan pembebanan struktur lengan robot sebelum dan sesudah ditambahkan pemberat, mendapatkan hasil kekuatan desain komponen struktur lengan robot manipulator berdasarkan nilai safety factor, dan membuat struktur lengan robot manipulator yang telah dilakukan uji kinerja. Metode yang dilakukan dalam penelitian ini adalah perhitungan desain struktur dan komponen penyusun lengan robot manipulator untuk memindahkan beban 1,25 kgf. Kemudian dibuatkan pemodelan 2D dan 3D menggunakan Autodesk Autocad dan Autodesk Inventor berdasarkan hasil perhitungan desain. Setelah dilakukan pemodelan kemudian dilakukan perhitungan pembebanan. Selanjutnya dilakukan analisis tegangan dengan kriteria hasil minimum Safety Factor (Sf≥3). Kemudian setelah dilakukan perhitungan pembebanan dilakukan pembuatan struktur yang selanjutnya dilakukan uji kinerja. Berdasarkan hasil penelitian telah dibuat desain struktur lengan dan komponen penyusun lengan robot manipulator untuk memindahkan beban 1,25 kgf. Struktur yang ditambahkan pemberat massa 3,6 kg menghasilkan penurunan nilai momen gaya sumbu Y sebesar 38,74% dan kenaikan nilai momen gaya pada sumbu Z sebesar 20,74% berdasarkan hasil perhitungan pembebanan. Struktur lengan robot mendapatkan hasil analisis kekuatan komponen dengan nilai melebihi nilai yang ditentukan (Sf≥3). Struktur lengan robot manipulator yang telah dibuat dinyatakan melewati hasil uji kinerja. *********** Manipulator robots can be called hand robots because they have the form and function of a human hand such as moving objects. The robot arm is one of the basic components. This study aims to produce a design of the arm structure and the components that make up the manipulator robot arm to move a load of 1.25 kgf, to get the difference in the calculation of the loading of the robotic arm structure before and after adding the weights, to get the results of the strength of the structural component of the manipulator robot arm based on the safety factor value, and to make the structure of the manipulator robot arm that has been tested for performance. The method used in this research is the calculation of the structural design and components of the manipulator robot arm to move a load of 1.25 kgf. Then made 2D and 3D modeling using Autodesk Autocad and Autodesk Inventor based on the results of design calculations. After the modeling is done, then the calculation of the load is carried out. Furthermore, a stress analysis was carried out with the minimum safety factor (Sf≥3) result criteria. Then after calculating the load, the structure is made which is then carried out for performance tests. Based on the results of the research, the design of the arm structure and the components that make up the manipulator robot arm have been made to move a load of 1.25 kgf. The structure added with a mass of 3.6 Kg resulted in a decrease in the value of the Y-axis moment of 38.74% and an increase in the value of the moment of force on the Z-axis by 20.74% based on the calculation results of loading. The structure of the robot arm gets the results of component strength analysis with a value exceeding the specified value (Sf≥3). The structure of the manipulator robot arm that has been made is declared to have passed the results of the performance test.

Item Type:	Thesis (Sarjana)
Additional Information:	1). Drs. H. Sirojuddin, M.T. ; 2). Dr. Ragil Sukarno, M.T.
Subjects:	Teknologi dan Ilmu Terapan > Teknik Mesin, Mekanika Teknik
Divisions:	FT > S1 Pendidikan Teknik Mesin
Depositing User:	Users 15182 not found.
Date Deposited:	26 Aug 2022 02:35
Last Modified:	26 Aug 2022 02:35
URI:	http://repository.unj.ac.id/id/eprint/33252

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