ANALISIS SUBSISTEM RAMP UNTUK MENAIKI TANGGA PADA MOBIL ROBOT LIPI VERSI 1 (MOROLIPI V1)
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ANALISIS SUBSISTEM RAMP UNTUK MENAIKI TANGGA PADA MOBIL ROBOT PENJINAK BOM VERSI 1 (MOROLIPI V1)
Published:
Jul 18, 2020
Keywords:
analisis, subsistem ramp, morolipi v1, mobil robot, menaiki tangga
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Abstract
Paper ini membahas secara rinci analisis sistem menaiki tangga (ramp) pada prototipe mobil robot penjinak bom versi 1 (morolipi v1). Analisis perlu dilakukan agar secara ilmiah dapat dibuktikan bahwa robot berfungsi sesuai dengan yang didesain. Analisis menggunakan pendekatan kinematika klasik untuk mendapatkan gaya dan momen yang bekerja pada mekanisme penggerak saat menaiki tangga. Berdasarkan analisis melalui simulasi dan eksperimen yang dilakukan maka dapat disimpulkan bahwa desain mobil robot dapat terbukti dapat bekerja dengan baik untuk ramp mobil robot menaiki tangga dengan kemiringan maksimal 42 derajat. Momen paling besar ketika menaiki tangga di sudut kemiringan 30 derajat dengan koefisien gesek 0,9.
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How to Cite
Saputra, H. M. (2020). ANALISIS SUBSISTEM RAMP UNTUK MENAIKI TANGGA PADA MOBIL ROBOT LIPI VERSI 1 (MOROLIPI V1). AUSTENIT, 12(1), 6–13. https://doi.org/10.5281/zenodo.4547822
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References
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Pengzhan Liu, Jianzhong Wang, Xin Wang & Peng Zhao (2018): Optimal design of a stair-climbing mobile robot with flip mechanism, Advanced Robotics, DOI: 10.1080/01691864.2018.1448299
Saputra, H.M., Putera, E., & Subagio, D.G. (2016). Analisis Penggunaan Pengaruh Rantai Dan Sproket Terhadap Konsumsi Daya Motor Pada Sistem Track Mobile Robot.
Saputra, R.P., Rijanto, E., & Saputra, H.M. (2012). Trajectory Scenario Control for the Remotely Operated Mobile Robot LIPI Platform Based on Energy Consumption Analysis.
Ben-Tzvi, P., Ito, S., & Goldenberg, A. (2009). A mobile robot with autonomous climbing and descending of stairs. Robotica, 27(2), 171-188. doi:10.1017/S0263574708004426
Jianzhong Wang, Jiadong Shi, Shilong Zhang Research on a Micro Flip Robot That Can Climb Stairs, 2016, Volume: 13 issue: 2,
S.Jain, D. K. Munda, S. Majumder, D. N. Ray, S. K. Char, N. Gulgulia, Analytical Approach for Force Stability Analysis of Stair Climber, 2015, 2 nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM2015-129
T.Mahadhir, K. A., Low, C. Y., Hamli, H., Jaffar, A., Salleh, E., & Bahari, M. S. (2013). Stair Climbing of a Track-Driven Mobile Robot with Flipper Arm. Applied Mechanics and Materials, 393, 586–591. https://doi.org/10.4028/www.scientific.net/amm.393.586
Tao, W., Ou, Y., & Feng, H. (2012). Research on Dynamics and Stability in the Stairs-Climbing of a Tracked Mobile Robot. International Journal of Advanced Robotic Systems, 9.
Yuan, Y., Xu, Q., & Schwertfeger, S. (2019). Configuration-Space Flipper Planning on 3D Terrain. ArXiv, abs/1909.07612.
Seo, B., Hong, S.Y., Lee, J.W., & Seo, T. (2013). Kinematic Optimal Design on a New Robotic Platform for Stair Climbing.
Pengzhan Liu, Jianzhong Wang, Xin Wang & Peng Zhao (2018): Optimal design of a stair-climbing mobile robot with flip mechanism, Advanced Robotics, DOI: 10.1080/01691864.2018.1448299