CD Disertasi

“RANCANG BANGUN ROBOT MANIPULATOR 4 DEGREE OF FREEDOM TIPE ARTICULATED SKALA LABORATORIUM”

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A four dof (degrees of freedom) robot arm simulator equipped with a two-finger
gripper is designed to determine the movement of the robot manipulator. To make
the arm robot simulator, the author uses PLA (polylactic acid) filament material,
servo motor as driver and Arduino Uno as microcontroller. PLA filament was
chosen because it is lightweight, strong and durable. Arduino Uno was chosen
because it can interact with NET-based software or visual studio which will be
able to control the angle of movement of the servo motor manually. The purpose
of this final project is to create a four dof arm robot simulator equipped with a
gripper and continued with forward kinematic analysis. The four dof arm robot
simulator can be used as a demonstration tool in control system practicum. To
make the simulator link, the author uses a 3D printer to produce a more precise
link. The movement of the servo motor is controlled using a program in the form
of an interface created using Visual Studio. The angle at each joint is identified
and translated by the system in the Visual Studio GUI application using robot
data. This data is calculated using the forward kinematic formula to determine the
X, Y, and Z end-effector positions, which are displayed in the Visual Studio
interface. The input angles from the interface are sent via serial communication to
Arduino to drive the servo at arm joints 1, 2, 3, and 4. The forward kinematic
analysis uses manual calculations and is validated using MATLAB software and
the Visual Studio interface. For forward kinematic calculations, rotation and
displacement matrices are required and Denavit-Hartenberg notation parameters
will produce orientation and end-effector position. Then forward kinematic testing
is obtained the average error in the x-axis end-effector position is 9.366% and in
the y-axis is 16.192% and the z-axis is obtained 15.3008%.
Keywords: Robot Manipulator, Robot Arm Simulator, and Forward Kinematic

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Ketersediaan

Informasi Detail

Judul Seri

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No. Panggil

2007110756

Penerbit

Pekanbaru : Universitas Riau - F. Teknik - Teknik Mesin., 2024

Deskripsi Fisik

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Bahasa

Indonesia

ISBN/ISSN

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Klasifikasi

2007110756

Tipe Isi

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Tipe Media

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Tipe Pembawa

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Edisi

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Subjek

TEKNIK MESIN

Info Detail Spesifik

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Pernyataan Tanggungjawab

GUNTUR

Versi lain/terkait

Lampiran Berkas

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