THE DESIGN OF A MINI PROTOTYPE MOBILE ROBOT FOR PICKING OBJECTS IN A NARROW SPACES BASED ON AN IOT

• Main Author: Agusti, Ikhsanul
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/55438
• Institution: Institut Teknologi Bandung

The development of science and technology in the field of electronics and communication has many benefits in human life, such as in the fields of industry, education, government, and so on. Nowadays there are many of robots that make human work become easier. The robot can also be expressed as a mechanical system that is controlled by a set of computers according to the flow of programs embedded in the computer. At this time the popular robot is a manipulator robot, which is a robotic arm that is used to increase production. The gripper on the manipulator robot is an end effector component that have functions in holding objects. As a sense of taste on the robot used the FSR sensor (Force Sensitive Resistor). Using the IOT principle, the gripping robot is controlled remotely using an internet signal (WiFi) and has a small size so that a mobile robot design is made that has a width of 9.5 cm and a height of 8 cm and used a 4-wheel system. The gripping robot has a gripper that functions to take certain objects in narrow areas that cannot be reached by humans. In testing the robot's motion, the robot has the smallest trajectory radius when turning 66 cm to the left and 67 cm to the right with a speed of 0.21 m/s and 0.22 m/s, respectively. In the gripper test, it was found that the gripper could grip quail eggs, SG90, and coins. The set point value on FSR when gripping the quail eggs is 0.005 g to 0.4 g, 0.1 g to 0.3 g for SG90, and 0.05 g to 0.4 g for coins. Testing of sensors contained in the gripping robot obtained an average error data and R2 on each sensor of 2.1% and 0.9995 for ultrasonic sensors, 8.84% and 0.997 for FSR. In temperature and humidity measurements, repeated measurements were made and the R2 error value and the average error for each measurement were 4.23%, 3.16%, and 1.80% and 0.9929, 0.9984, 0.994 for temperature measurement. and for humidity measurements 2.81%, 1.82%, 2.24% and 0.9864, 0.993, 0.9968. The gripping robot can be operated for 50 minutes 5.84 seconds when there is no additional load on the robot.