Robot tangan berpengendali sarung tangan nirkabel berbasis Mikrokontroler Arduino = Wireless glove controlled robotic hand with Arduino Mikrokontoler

Thenneil, Jason (2016) Robot tangan berpengendali sarung tangan nirkabel berbasis Mikrokontroler Arduino = Wireless glove controlled robotic hand with Arduino Mikrokontoler. Bachelor thesis, Universitas Pelita Harapan.

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Abstract

This research is motivated by the desire to create a robot that has the ability like a human hand, so it can help human to work easily. Before being able to make a robot that can perform complex jobs like the human hand, this research was resricted to a human hand-sized robot that is able to grip three types of objects, the solid form of rods, round object and flat object with an input from glove controllers. The glove controller is equipped with flex sensors, microcontroller, and bluetooth communication module. The robotic hand is made by 3-D printer, equipped with a microcontroller, bluetooth communication module, and servo motors as actuators. The controller will continuosly read the state of user's finger, then send it to the robotic hand through a bluetooth communication module. The robotic hand will translate it into degree orders then actuate it using a servo motor. The research studied the characteristics of the sensor on the gloves and five servo motors as actuators on the robot arm construction. Measurements indicate that the flex sensors will generate resistance depending on the amount of its bending. Flex sensors can produce resistance from 8 kΩ to 23 kΩ. Although the flex sensors are not identical to one another and not linear, but by calibrating the sensor through software, the glove controller can still be used to control a robotic hand. The robotic hand was successfully controlled through gloves for gripping white-board markers (rods), mouse pad (flat), and a styrofoam ball of 5 cm diameter. The control of the robotic hand works, but is still limited on the rugged result of 3-D printers and strings that are easily broken. Experiments show that each finger is able to provide 1.5 to 1.7 Newton of force, so that it produces enough amount of force to grab things. / Penelitian ini dilatarbelakangi oleh keinginan untuk membuat robot yang memiliki kemampuan layaknya tangan manusia, sehingga dapat memudahkan pekerjaan manusia. Namun sebelum mampu membuat robot yang dapat melakukan pekerjaan kompleks layaknya tangan manusia, penelitian ini perlu dibatasi pada robot berukuran tangan orang dewasa yang mampu menggenggam tiga jenis benda yaitu, benda padat berupa batang, benda berbentuk bulat, dan pipih. Perintah pergerakan tangan didapatkan dari sebuah sarung tangan pengendali. Sarung tangan pengendali dilengkapi dengan flex sensor, mikrokontroler, dan modul komunikasi bluetooth. Sedangkan robot tangan dibuat dengan 3-D printer, kemudian dilengkapi dengan mikrokontroler, modul komunikasi bluetooth, dan aktuator berupa motor servo. Pengendali akan terus membaca keadaan jari pengguna, lalu hasil bacaan ini dikirimkan dengan modul komunikasi bluetooth ke robot tangan. Robot tangan akan menerjemahkan hasil bacaan pengendali tersebut menjadi perintah berupa derajat untuk kemudian diaktuasi oleh motor servo. Pada penelitian ini, dipelajari karakteristik dari sensor pada sarung tangan dan lima buah aktuator motor servo pada konstruksi robot tangan. Hasil uji sensor pada sarung tangan menunjukkan bahwa flex sensor akan menghasilkan nilai resistansi tergantung dari besarnya penekukan yang diterima. Nilai resistansi yang dihasilkan flex sensor berkisar 8 kΩ hingga 23 kΩ. Walaupun flex sensor satu dengan yang lain kurang identik dan kurang linier, namun dengan menggunakan kalibrasi per sensor, yang diimplementasikan melalui software, sarung tangan pengendali masih bisa digunakan untuk mengontrol robot tangan. Robot tangan berhasil dikendalikan melalui sarung tangan untuk menggenggam spidol (batang), mouse pad (pipih), dan bola plastik gabus berdiameter 5 cm. Robot tangan sudah bisa dikontrol, namun masih terkendala pada hasil 3-D printer yang kasar dan senar yang mudah putus. Eksperimen menunjukkan bahwa masing-masing jari mampu memberikan daya cengkram sebesar 1,5 – 1,7 Newton, sehingga diketahui bahwa daya yang dihasilkan cukup untuk menggenggam benda.

Item Type: Thesis (Bachelor)
Creators:
CreatorsNIMEmail
Thenneil, JasonUNSPECIFIEDUNSPECIFIED
Contributors:
ContributionContributorsNIDN/NIDKEmail
Thesis advisorKuantama, EndrowednesUNSPECIFIEDUNSPECIFIED
Thesis advisorUranus, Henri P.UNSPECIFIEDUNSPECIFIED
Uncontrolled Keywords: robot tangan; Mikrokontroler; pengendali; sensor; motor Servo
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: University Subject > Current > Faculty/School - UPH Karawaci > Faculty of Science and Technology > Electrical Engineering
Current > Faculty/School - UPH Karawaci > Faculty of Science and Technology > Electrical Engineering
Depositing User: Esterina M. Jonatan
Date Deposited: 26 Jun 2018 03:13
Last Modified: 21 Feb 2019 08:12
URI: http://repository.uph.edu/id/eprint/394

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