RANCANG BANGUN PROTOTIPE ROBOT MANIPULATOR UNTUK MEDIA PRAKTIKUM

Abstract

Manipulator robots are commonly used for industrial applications such as to move, to lift and to manipulateworkpieces. The robots are widely used in various industries. Then, the understanding about the robots becomeimportant things for engineering students especially for mechatronics students. The students can study aboutmanipulator robots by using a prototype of manipulator robot. Therefore, a prototype of manipulator robot is the mainresult of this research. The prototype of manipulator robot can be used as a teaching tool in the Mechatronics Laboratory.The robot has a complete kinematics and dynamics analysis. The purposes of this research are (1) to formulate therotation, homogenous transformation, and position matrixes of the robot, (2) to design the mechanical, electrical andcontrol of the robot, and (3) to make a prototype of manipulator robot. The robot is equipped with an end effector. Then,the robot has a 3 Degree of Freedoms (DOFs) in its body and 2 DOFs in its end effector. A dynamixel AX-12A and aservo motor were used as the actuators of the robot. Then, an Arduino Mega was used as the controler of the robot. Asthe result of this research, the prototype of manipulator robot had been made based on the formulation and design. Therobot could work well in lifting and moving a sample workpiece from a coordinate (x1, y1) to other coordinate (x2, y2).