Sistem Pick and Place Dua Derajat Kebebasan menggunakan Metoda Regresi

ERWANI MERRY SARTIKA, RUDI SARJONO, HAZEL XARIS CHRISOPHRAS

Sari


ABSTRAK

Sistem pick and place merupakan suatu sistem mekanik yang digunakan untuk memanipulasi pergerakan mengangkat, memindahkan, dan meletakkan untuk meringankan kerja manusia. Dalam mempelajari cara kerja robot industri sederhana dibuat miniatur robot pick and place (sederhana). Perancangan yang dibuat yaitu sistem pick and place dengan dua derajat kebebasan dengan ukuran yang memiliki perbandingan 1:0.35 dari referensi ukuran desain robot. Aplikasi SolidWorks digunakan untuk mendesain robot Diamond. Metode Regresi digunakan untuk memprediksi posisi motor servo dalam mencapai posisi yang diinginkan. Metode regresi berhasil digunakan untuk mencari hubungan antara target posisi setpoint dengan posisi motor servo 1 dan 2 (persamaan orde 2 dan 3) untuk mengontrol motor servo. Performansi yang terbaik dari sistem pick and place yang dibuat menggunakan trayektori miring, dengan kecepatan 100 (11.1 rpm), menghasilkan error ± 0.0729 dan presisi 1.63%. Dalam penelitian ini, kecepatan end-effector yang lebih rendah menghasilkan keakurasian dan kepresisian yang lebih baik.

Kata kunci: Pick and Place, Robot Diamond, Dua derajat kebebasan, Regresi

 

ABSTRACT

The pick and place system are a mechanic system used in manipulating the movements of lifting, moving, and laying to ease human work. In learning how to work a simple industrial robot, a miniature pick and place robot is created. The design made is a pick and place system with two degrees of freedom with a size that has a ratio of 1: 0.35 from the reference size of the robot design. Regression method is used to predict the position of the servo motor in reaching the desired position. Regression method was successfully used to find the relationship between the target setpoint position and the position of servo motors 1 and 2 (order equations 2 and 3) to control the servo motor. The best performance from the pick and place system that is made using an aslope trajectory, with a speed of 100 (11.1 rpm), produces an error ± 0.0729 and precision 1.63%. In this research, lower end-effector speeds result in better accuracy and precision.

Keywords: Pick and Place, Diamond Robot, 2-DOF, Regression


Kata Kunci


Pick and Place; Robot Diamond; Dua derajat kebebasan; Regresi

Teks Lengkap:

PDF

Referensi


Andhare, P. (2016). Pick and Place Industrial Robot Controller with Computer Vision. In Conference: 2016 International Conference on Computing Communication Control and automation (ICCUBEA) (pp.1-4).

Chapra, S. C., & Canale, R. P. (2015). Numerical Methods for Engineers (seventh Ed). McGraw-Hill Science/Engineering/Math.

Chetwynd, D. G., & Gosselin, C. M. (2016). Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place. Transactions of the ASME, Elsevier, 126, 449–455. https://doi.org/10.1115/1.1711822

Huang, T., Liu, S., Mei, J., & Chetwynd, D. G. (2013). Optimal design of a 2-DOF pick-andplace parallel robot using dynamic performance indices and angular constraints. In Mechanism and Machine Theory, Elsevier, 70, 246–253. https://doi.org/10.1016/j.mechmachtheory.2013.07.014

Kit, W. S., & Venkatratnam, C. (2016). Pick and Place Mobile Robot for the Disabled through Voice Commands. 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA), (pp. 3–6). https://doi.org/10.1109/roma.2016.7847799

Li, W., Xiao, Y., Bi, S., & Du, G. (2013). Automatic Elliptical Trajectory Planning Algorithm For Pick and Place Operation. In Proceedings of the 2013 International Conference on Advanced Mechatronic Systems, Luoyang, China. (pp. 36–39).

Luknanto, D. (2001). Metoda Numerik (pp. 16–21).

Ogata, K. (2010). Modern Control Engineering. New Jersey. Prentice Hall.

Rhakasywi, D. (2016). Rancang Bangun Elemen Mesin 3D Dengan Solidworks. Andi.

Sam, R., Arrifin, K., & Buniyamin, N. (2012). Simulation of Pick and Place Robotics System Using Solidworks Softmotion. In 2012 International Conference on System Engineering and Technology (ICSET).

Sartika, E. M., Sarjono, R., & Restianto, R. S. (2019). Simulasi Sistem Otomasi Load Shedding menggunakan Prediksi Beban, ELKOMIKA, 7 (1), 180-194. http://doi.org/http://dx.doi.org/10.26760/elkomika.v7i1.180




DOI: https://doi.org/10.26760/elkomika.v7i3.521

Refbacks

  • Saat ini tidak ada refbacks.


_______________________________________________________________________________________________________________________

ISSN (cetak) : 2338-8323 | ISSN (elektronik) : 2459-9638

diterbitkan oleh :

Teknik Elektro Institut Teknologi Nasional Bandung

Alamat : Gedung 20 Jl. PHH. Mustofa 23 Bandung 40124

Kontak : Tel. 7272215 (ext. 206) Fax. 7202892

Surat Elektronik : jte.itenas@itenas.ac.id________________________________________________________________________________________________________________________

Statistik Pengunjung

Free counters!

Web Analytics Made Easy - StatCounter

Lihat Statistik Jurnal

Jurnal ini terlisensi oleh Creative Commons Attribution-ShareAlike 4.0 International License.

Creative Commons License