DESIGN AND IMPLEMENTATION OF 2 DOF ROBOTIC DRIVE SYSTEM AND HUMAN MACHINE INTERFACE (HMI) FOR SELF PRACTICUM

• Main Author: Abdul, Abhinaya
• Format: Final Project
• Language: Indonesia
• Subjects: Teknik (Rekayasa, enjinering dan kegiatan berkaitan)
• Online Access: https://digilib.itb.ac.id/gdl/view/80606
• Institution: Institut Teknologi Bandung

Basic knowledge about how robots work and Human Machine Interface (HMI) has been given in several courses in Mechanical Engineering ITB with classroom learning and practicum with limited time. However, there is no props that can help students understand how robots work. The design of the SCARA educational robot has been carried out by Pandeka [1], but has not been realized. In addition, the design of the SCARA educational robot by Pandeka [1] needs to be minimized and equipped with an HMI so that the SCARA educational robot can be taken home by students as a medium for self learning. This bachelor thesis begins by reviewing the design of the SCARA robot by Pandeka to determine the criteria and objectivity of the SCARA educational robot. After that, the bachelor thesis continued with the design of the drive system consisting of mechanical and electrical designs. If the results of the drive system design have met the criteria and objectivity, the bachelor thesis continued with the prototyping of the SCARA educational robot. After that, the bachelor thesis continued with determining the HMI criteria and making the HMI. HMI testing with SCARA educational robot will be carried out when the HMI has met the specified criteria. In this bachelor thesis, the drive system and HMI of the two degrees of freedom SCARA robot have been made. This drive system has a mass specification of 815 grams with a length of 365 mm, width of 130 mm, and height of 135 mm. This drive system is equipped with an HMI as a medium of interaction between users and SCARA educational robot. The drive system will work based on user data input on the HMI. In addition, the HMI will show the profile of arm movement and changes in angular position from sensor readings.