Susanto, Hendro and Sofyan, Edi and Iskandar, Aulia Arif (2018) Designing and Implementation of A Simple Robotic Arm for Loading and Unloading Products on a Press Machine. Masters thesis, Swiss German University.

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Abstract

This thesis focuses on design, implementation and control of three degree of freedom ( DoF ) robotic arm using servo motor with an Arduino Uno microcontroller to improve the effectiveness of the loading and unloading product on a press machine at Atmi Cikarang. The input of this robot is the initial coordinates and final coordinates that are computed by the method of inverse kinematics. The output of the form of large angle of each joint is required in order for the robot arm reaches the desire point coordinates. In ensuring the system analysis of the movement of the robotic arm, we communicate the Arduino with GUI Visual Basic 6.0 to get accurate data. An error value movement of the servo motor on each joint is a problem to be researched, so that the error value of the reached coordinate from inverse kinematic can be analyzed. Based on this case, the author will try to make a Mini Robotic Arm Based Arduino and Visual Basic 6.0. This project started with literature review of relevant journal, mechanical and electrical design. Design three Revolute Joint manipulator arm is choosen as the mechanical hardware, arduino uno board as the electrical hardware, Arduino IDE and Visual Basic 6.0 as the software, and support material about inverse kinematic. This project has successfully create Mini Robotic Arm Hardware and Software which can move from initial point to desired position. The results is that, the robot is able to move the object from one point coordinate to another within an average period of 5° - 6° error value at servo motor rotation and 5mm - 10mm error value coordinate as well as the level error that occurred in the achievement of the desired target. Based on the results of the implementation system of the arm robot assessed transporter.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	Automate; Visual Basic 6.0; Microcontroller; Robotic Arm; Kinematic
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Astuti Kusumaningrum
Date Deposited:	15 Jul 2020 17:02
Last Modified:	15 Jul 2020 17:02
URI:	http://repository.sgu.ac.id/id/eprint/808

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