RANCANG BANGUN GRIPPER ROBOT MANIPULATOR 2 DOF KAPASITAS 1,25 KGF
DOI:
https://doi.org/10.21776/jrm.v14i1.999Keywords:
Degree of Freedom, Gripper, Robot Manipulator, Safety Factor, Von MisesAbstract
Manipulator robots practically help human to move objects vertically, horizontally, or rotationally. The robot is generally divided into three components, namely arm, base, and gripper with servo motor drive. The aim of this study is to improve the previous gripper robot manipulator design so that it can move 2 DOF (Degree of Freedom) by adding 1 DOF located on the robot gripper, which in previous studies, the robot manipulator gripper was only able to move 1 DOF. In addition, after calculating using Von Mises theory, then design 2D components and this assembly using AutoCAD software. Next design 3D components and assembly using Autodesk Inventor application based on FEM (Finite Element Method). Will also make a tool in the form of a robot gripper which will later be tested for feasibility. Based on the calculating result, the minimum thickness of the most significant link is 5.1 mm. To make it easier to find plates and save costs, the thickness of all plates in each link is rounded up to 6 mm. From the result of the movement simulation, it is found that the gripper can move open, clamp and rotate, and from the FEM software result the Safety factor value = 3.58 >3.0. Meanwhile, based on the result of the feasibility test, the gripper robot manipulator is feasible.
References
Internasional Federetation of Robotics, https://ifr.org/img/worldrobotics/Executive_Summary_WR_2020_Industrial_Robots_1.pdf. Diakses: Juli 2021.
TODD, D. J., Fundamental of Robot Technology, 1 ed., London, Kogan Page, 1986.
ATMAJA, M. I., HARTONO, A., dan WALUYO. R., “Perancangan Gripper Lengan Robot Pemindah Bahan Tipe Cartesian Coordinate”, ALMIKANIKA, v. 1, n. 1, pp. 13-18, Januari. 2019.
MARDIYANTO. R., QOMARUZZAMAN. M., dan TASRIPAN. F. B., “Robot Berlengan Untuk Mengambil Benda Berbahaya yang dapat dikendalikan Jarak Jauh”, In: Prosding SENTIA, v. 8 n. 2085-2347. 2016.
RAHMAWAN. A., MUNADI., dan PRAHASTO. T., “Optimasi Gripper Dua Lengan dengan Menggunakan Metode Genetic Algorithm pada Simulator Arm Robot 5 DOF (Degree Of Freedom)”. Jurnal Teknik Mesin, v. 1, n. 2, pp. 9-16, April. 2013.
ATAKURU. T., dan SAMUR. E., “A Robotic Gripper for Picking Up Two Objects Simultaneously”. ELSEVIER, pp. 583-597, Oktober 2017.
WANG. G., YU. Y., dan FENG. Q., ”Design of End-Effector for Tomato Robotic Harvesting”, ScieceDirect, pp. 190-193, 2016.
ERLINGSSON. B. E., HREIMSSON. I., PALSSON. P.I., HJALMARSSON. S. J., dan FOLEY. J. T., “Axiomatic Design of a Linear Motion Robotic Claw with Interchangeable Grippers”. ScienceDirect, pp. 213-218, 2016.
SIRMAYANTI., AMELIA. S., AFIFAH. N., dan ABDUH. I., “Rekayasa Sistem Kendali Gripper melalui Robot Transporter menggunakan Wifi Module EPS8266”. Jurnal Telekomunikasi dan Komputer, v. 11, n. 1, pp. 51-64, April. 2021.
TAUFIK. A., MUHAMMAD. A. K., BASO. A., dan ADIPUTRA. J. M., “Rancang Bangun Prototipe Robot Maniputaror untuk Media Praktikum”. In: Prosiding Seminar Hasil Penelitian, pp. 203-208, 2017.
MURTI. B. B., SARWANO. T., APRIASKAR. E., dan FAHMIZAL., ”Desain Robot Holonomic Berbasis Roda Mecanum dengan Arm Manipulator”. Jurnal Rekayasa Elektrika, v. 16, n. 3, pp. 216-225, Desember 2020.
ZHUANG. F., HANGFEI. Z., ZIJUAN. L., JIAN. F., WEIXIN. Y., dan YANZHENG. Z., “Design of a Robot End-Effector Grabbing Mechanism Based on a Bioic Snake Mouth”. International Journal od Advanced Robotic System, v. 10, pp. 174, Oktober 2013.
HUSSAIN. I., MALVEZZI. M., GAN. D., IQBAL. Z., SENEVIRATNE. L., PRATTICHIZZO. D., dan RENDA. F., “Compliant Gripper Design, Prototyping, and Modeling using Screw Theory Formulation”. SAGE, pp. 1-17, 2020.
SDAHL, M., dan KUHLENKOETTER, B., “CAGD-Computer Aided Gripper Design for a Flexible Gripping System”. International Journal of Advande System, v. 2, n. 2, pp. 135-138, 2005.
ACHILLI. G. M., VALIGI. M. C., SALVIETTI. G., dan MALVEZZI. M., “Design of Soft Gripper with Modular Actuated Embedded Constraints”. In: MDPI, pp. 1-14, Desember 2020.
EKAPUTRA. I. M. W., dan SETIAWAN. J. D., “Pengembangan Wearable Robotic Arm Input dan Virtual Instrumen untuk pengendalian dan pemantauan Lengan Robot”. Jurnal Rekayasa Mesin, v. 8, n. 2, pp. 109-119, 2017.
KRISHNARAJU. A., RAMKUMAR. R., dan LENIN. V. R., “Design of Three Fingered Robot-Gripper Mechanism”, IJMER, v. 3, pp 18-24, 2015.
TAMAMI. M. I., Desain Gripper Robot Manipulator dengan Kapasitas Beban 1,25 Kgf menggunakan Finite Elemen Method, 2020.
ROARK, R. J., Stress Concentration Factor, 1 ed., New York, McGraw-Hill, 1938.
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2023 Sirojuddin Sirojuddin
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.