CD Skripsi

RANCANG BANGUN ROBOT MANIPULATOR 3 DEGREE OF FREEDOM TIPE CARTESIAN SEBAGAI ALAT BANTU PRAKTIKUM SKALA LABORATORIUM

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Robot manipulator is a hand robot created for one or more specific functions,
having the form of rigid arms connected in series with joints that can move
around (rotation) or extend and shorten (translation). There are several types of
manipulator robots, one of which is the cartesian robot type. Almost all cartesian
type robots use firmware that has been made, such as the GRBL firmware to drive
a CNC machine. This research aims to design and build a cartesian type robot
manipulator with 3 degrees of freedom and equipped with an interface for
features that support manual input of joint variables. So that forward kinematic
analysis can be done. This research starts from designing a 3 DOF caertesian
type arm manipulator robot using the Solidwork 2022 application. The design of
this arm manipulator robot uses a NEMA 17 stepper motor as a driver and
Arduino Uno as a microcontroller so that it can interact with the GUI / interface
made in Visual Studio software as a robot displacement input. Furthermore,
calculations and tests are carried out in order to compare the test results on the
interface with the actual condition of the manipulator robot for forward
kinematic. Measurements were made using an inching ruler with an accuracy of
0.05 mm in four quadrants where each quadrant was tested 3 times and 3
repetitions were made at the same x, y, z axis points. The percentage error
obtained for measurements using an inching ruler with the largest value in the x
position is 5% and the smallest value is in the y position which is 0%. From the
results of the difference in all positions obtained, none exceeds 1 mm and the
highest is 0.9 mm. It can be concluded that the cartesian type 3 DOF robot
manipulator made still has good enough precision for control system practicum
aids for laboratory scale.
Keywords: Manipulator Robot Cartesian, Forward Kinematic, Invers Kinematic

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Ketersediaan

Informasi Detail

Judul Seri

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No. Panggil

2007110789

Penerbit

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

Deskripsi Fisik

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Bahasa

Indonesia

ISBN/ISSN

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Klasifikasi

2007110789

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

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