OTOMASI PENYORTIRAN BARANG BERDASARKAN BERAT BARANG MENGGUNAKAN LENGAN ROBOT DENGAN METODE KINEMATIKA MAJU

• Main Authors: , M ABDUL AZIZ WICAKSONO, , TriYogatama Wahyu W., M.Kom
• Format: Theses and Dissertations NonPeerReviewed
• Published: [Yogyakarta] : Universitas Gadjah Mada 2013
• Subjects: ETD
• Online Access: https://repository.ugm.ac.id/126946/; http://etd.ugm.ac.id/index.php?mod=penelitian_detail&sub=PenelitianDetail&act=view&typ=html&buku_id=67185

Unlike humans who can suffer exhaustion, the robot is able to work nonstop unless damage to the system or his power turned off. These limitations, use of robots is one solution that widely used. In the industrial world, the robot arm works full automatic in order to efficiently and produce a production according to the target. One function of the robot arm is as the result of packing items sorter, included the items sorting based on item weight. Item weight sorting system based on the weight items made on using 4 DOF manipulator, Arduino Uno as processors and LDR sensor with LED to measure the weight of the items. Robot manipulator arm using forward kinematics method to create each position and movements such as the stand-by position, lifting, sorting item and put item. Weight measurements of items carried by LDR with the help of LED and an integrated aluminum plate on the robot arm. LDR resistance value changes based on the light intensity of LEDs. The value of LED light intensity is affected by the elasticity of the aluminum plate. The greater the weight of the item, the more bent the aluminum plate and the greater the distance between the LDR range with LED. The system is capable of sorting items with a weight of � 160 grams sorted to point A, while the weight of items > 160 n � 200 grams sorted to point B. Weight measurement results by LDR sensor produces a linear graph with the equation y = 9.7727x � 201.82 dan R 2 = 0.9888.