Rancang Bangun Purwarupa Manipulator Lengan Robot Dengan Tiga Derajat Kebebasan

IDHAM HANIF AYEGA, TUA AGUSTINUS TAMBA, BAGUS MADE ARTHAYA

Sari


ABSTRAK

Makalah ini melaporkan hasil penelitian terkait rancang bangun suatu purwarupa manipulator lengan robot dengan tiga derajat kebebasan. Proses perancangan dilakukan dalam tiga tahap yang mencakup pemodelan matematis kinematika maju dan balik pada robot, desain dan simulasi purwarupa robot menggunakan pemrograman MATLAB dan SOLIDWORKS terintegrasi, dan konstruksi perangkat keras robot menggunakan teknolog 3D printing.Proses simulasi dan eksperimen selanjutnya dilakukan untuk membandingkan kesesuaian operasional dan kinerja perangkat keras dan model simulasi komputer yang telah dirancang. Berdasarkan hasil simulasi dan eksperimen, disimpulkan bahwa desain perangkat keras robot memiliki tingkat kepresisian yang sangat baik dengan batas kesalahan maksimum untuk solusi kinematika maju yang dihasilkan adalah sebesar 2.745% serta batas kesalahan maksimum untuk solusi kinematika balik adalah sebesar 0.06%.

Kata kunci: lengan robot, kinematika, robotic toolbox, 3D printing

 

ABSTRACT

The research reported in this paper was aimed at developing a prototype of a robotic arm/manipulator with three degrees of freedom. The prototype was developed in three main stages, namely forward and inverse kinematics modeling of the robot, simulation modeling of the prototype in MATLABSOLIDWORKS integrated environment, and finally the hardware development of the robot using 3D printing techniques. The operational performance of the constructed robotic hardware was then analyzed and compared with that of the developed simulation model. The experimental results of the robot performance evaluations suggested that the robot prototype has good operational precision performance in which the resulting maximum error for forward kinematics task is only about 2.745% whereas the resulting maximum error for inverse kinematics task is only about 0.06%.

Keywords: robotic arm, forward kinematics, robotic toolbox, 3D printing


Kata Kunci


Lengan Robot; Kinematika; Robotic Toolbox; 3D printing

Teks Lengkap:

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Referensi


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DOI: https://doi.org/10.26760/elkomika.v11i3.796

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