RANCANG BANGUN ROBOT OMNI DIRECTIONAL SEBAGAI PEMINDAH BARANG MENGGUNAKAN VACUUM GRIPPER

    Azka Aulia Hanifah, - and Erik Haritman, - (2025) RANCANG BANGUN ROBOT OMNI DIRECTIONAL SEBAGAI PEMINDAH BARANG MENGGUNAKAN VACUUM GRIPPER. S1 thesis, Universitas Pendidikan Indonesia.

    Abstract

    Perkembangan sistem robotika dalam bidang industri mendorong kebutuhan akan robot mobile yang efisien, presisi, dan mampu beradaptasi dengan kondisi lingkungan yang dinamis. Robot ini direalisasikan dengan tiga roda omni untuk pergerakan holonomik (ke segala arah) dan dikendalikan oleh sistem mikrokontroler.Penelitian ini merancang dan membangun prototipe robot omni-directional yang dilengkapi vacuum gripper sebagai sistem end-effector untuk pemindahan objek. Sistem robot diuji terhadap variasi massa dan tekstur permukaan objek untuk mengevaluasi daya angkat, konsumsi energi, dan tingkat keberhasilan pengangkatan, baik dalam kondisi statis maupun dinamis. Hasil pengujian menunjukkan bahwa vacuum gripper memiliki efektivitas tinggi pada permukaan halus seperti plat besi dan HVS (100% keberhasilan), namun performanya menurun drastis pada permukaan kasar seperti amplas kasar (10% keberhasilan), meskipun daya (watt) yang dikonsumsi lebih tinggi. Pengujian dinamis juga mengidentifikasi bahwa akselerasi awal yang tinggi dapat menyebabkan kegagalan penggenggaman akibat gaya inersia. Disimpulkan bahwa prototipe ini berhasil membuktikan konsep robot pemindah barang omni-directional, namun optimalisasi pada kekuatan vacuum gripper dan penerapannya gerak yang lebih halus diperlukan untuk meningkatkan keandalan dan kapabilitas operasionalnya di dunia nyata.Penelitian ini menyimpulkan bahwa keberhasilan sistem pengangkatan tidak hanya ditentukan oleh kekuatan daya hisap, tetapi juga oleh karakteristik permukaan objek dan stabilitas sistem saat bergerak. The development of robotic systems in industry drives the need for mobile robots that are efficient, precise, and capable of adapting to dynamic environments. This research focuses on the design and construction of a prototype omni-directional robot equipped with a vacuum gripper as its end-effector system for object manipulation. The robot is realized with three omni wheels for holonomic (all-directional) movement and is controlled by a microcontroller system. The system was tested against variations in object mass and surface texture to evaluate its lifting force, energy consumption, and gripping success rate under both static and dynamic conditions. The results show that the vacuum gripper is highly effective on smooth surfaces such as iron plates and HVS paper (100% success rate), but its performance decreases drastically on rough surfaces like coarse sandpaper (10% success rate), despite consuming more power. Dynamic testing also identified that high initial acceleration can cause gripping failure due to inertial forces. In conclusion, this prototype successfully validates the concept of an omni-directional goods-transfer robot. However, optimizing the vacuum gripper's strength and implementing smoother motion profiles are crucial for improving its real-world reliability and operational capability. This study confirms that the success of the lifting system depends not only on suction power but also on the object's surface characteristics and the system's dynamic stability.

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    Official URL: https://repository.upi.edu/
    Item Type: Thesis (S1)
    Additional Information: https://scholar.google.com/citations?view_op=list_works&hl=en&hl=en&user=8so0stsAAAAJ&scilu=&scisig=AKwmTV4AAAAAaSU1HgAbFqIpbyseX3B1SCrBV7w&gmla=AKzYXQ0o6uWe4YfufTM3Q1XvIdx_j_PJ9V62TX5AcjZ3R5W-Tg_S4dWd5NxhIss6DeeX7l2zemvKZlQNMSE2zxjFuZlhd1xL4Vi74fw&sciund=10626587509755872514 ID SINTA Dosen Pembimbing: Erik Haritman : 6003383
    Uncontrolled Keywords: Robot Omni-directional, Vacuum Gripper, Daya Angkat, Permukaan Objek, Efisiensi Energi. Omni-directional Robot, Vacuum Gripper, Lifting Force, Object Surface, Energy Efficiency.
    Subjects: T Technology > T Technology (General)
    T Technology > TK Electrical engineering. Electronics Nuclear engineering
    Divisions: Fakultas Pendidikan Teknik dan Industri > Jurusan Pendidikan Teknik Elektro
    Depositing User: Azka Aulia Hanifah
    Date Deposited: 25 Nov 2025 06:11
    Last Modified: 25 Nov 2025 06:11
    URI: http://repository.upi.edu/id/eprint/145538

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