PERANCANGAN LENGAN MEKANIK PADA ALAT SISTEM SORTIR BUAH HORTIKULTURA MENGGUNAKAN MIKROKONTROLER ARDUINO UNO

MARLIYANSA, AHMAD and Yani, Irsyadi (2016) PERANCANGAN LENGAN MEKANIK PADA ALAT SISTEM SORTIR BUAH HORTIKULTURA MENGGUNAKAN MIKROKONTROLER ARDUINO UNO. Undergraduate thesis, Sriwijaya University.

Preview	Text RAMA_21201_03121005010_0025127104_01_front_ref.pdf - Accepted Version Available under License Creative Commons Public Domain Dedication. Download (1MB) | Preview
	Text RAMA_21201_03121005010_0025127104_02.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (826kB) | Request a copy
	Text RAMA_21201_03121005010_0025127104_03.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (850kB) | Request a copy
	Text RAMA_21201_03121005010_0025127104_04.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (1MB) | Request a copy
	Text RAMA_21201_03121005010_0025127104_05.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (284kB) | Request a copy
	Text RAMA_21201_03121005010_0025127104_06_ref.pdf - Bibliography Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (320kB) | Request a copy
	Text RAMA_21201_03121005010_0025127104_07_lamp.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (795kB) | Request a copy

Abstract

Technology has developed so much in these days. It has replaced the needs of manpower in operating the machines, an example of that is the utilization of robots. Nowadays, the development of robotics technology is able to increase the quality and quantity of production in various industries. One way to improve the performance is by adding a sensor into the device. For example, in industrial and agricultural fields have been using the sorting system to separate objects by type, quality, and the size of the object. In sorting system, it has to have robotic or mechanical arms to make the sorting easier. This mechanical arm is a part of the robot to separate the objects by type which will replace or lighten the use of manpower. The author is interested to do some research to design a mechanical arm for the horticulture fruits using microcontroller arduino uno R3 In this study, the method starts by searching, studying and understanding the literature in the form of journals or scientific papers in order to learn a new knowledge from previous studies. From the results of the literature study that has been collected, the first step to do is designing a mechanical arm model by using solidwork 2014 software. After the design has been made, the next step is collecting the tools and materials. Aluminum is chosen as a material because the weight is quite light for daily use. For the motor, the author is using Servo TowerPro MG996R and Arduino Uno as the motor controller for ServoTowerPro MG996R. Followed by analyzing the calculation of the mechanical arm design using Denavit Hartenberg’s method. This is to determine the produced thrust and the coordinates of the mechanical arm in the initial position to the end position when the mechanical arm moves with 11 kgf.cm/1.0787 Nm torque. After the mechanical arm design is completed, it is time to test the performance. The first process is to analyze the mechanical arm by observing its motion in real time. This process is repeated 5 times for each arm. After 5 times of testing the mechanical arm motion directly and comparing it with manual calculation, author obtained the error value coordinates ErrX = 2.86% and 0.66%. For the next step, the author is testing the mechanical arm’s performance while doing the sorting process in realtime. The testing is done on prototype belt conveyor with a webcam mounted in static conditions on top of it. Webcam is used as a detection sensor for colour and shape. Mechanical arm testing process is done by separating fruits based on the level of ripeness and repeatedly size. In this test the author used 10 fruits which were mango, apple, pear, ripe orange, half-ripe orange, ripe tomatoes, half-ripe tomato, starfruit, half-ripe starfruits. It was done with 11 trials on each fruit. This test is to observe whether the mechanical arm can sort the horticulture fruit properly and appropriately. And after 110 times test, the authors got 98 times success with the 87.27% percentage. This proved that the mechanical arm on horticultural fruits sorting system can work with good results.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	microcontroller, Arduino Uno R3, Denavit Hartenberg (D-H), Sort, Servo Motor, TowerPro MG996R, Mechanical Arm, realtime, Hortikultura.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ1-1570 Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Divisions:	03-Faculty of Engineering > 21201-Mechanical Engineering (S1)
Depositing User:	Mrs Dies Meirita Sari
Date Deposited:	18 Nov 2019 12:54
Last Modified:	18 Nov 2019 12:54
URI:	http://repository.unsri.ac.id/id/eprint/16974

Actions (login required)

View Item