Perancangan Lengan Penghembus Pada Robot Hybrid Dengan Kontroler Arduino

Abstract

This research aims to devise a mechanism and control system in a hybrid robot arm that can help the Eco robot past the obstacles that have been determined. The arms are designed can adjust the height, following the Eco robot when walking and adjust the orientation of the Eco robot. The design of this arm took the basic design Cartesian arm and added a mechanism to adjust the orientation of the robot Eko. To adjust the height then uses a DC motor, and to set the direction of the gusts uses servo motors to control the working arm using PS2 joystick. PS2 joystick that receives input from the operator will send a signal to the controller Arduino Mega. controller that already contains the command program sends a command signal to the actuator. To determine the success of the design of the testing, which includes testing the height of the arm, the test angle gusts, gust speed testing, testing Hybrid robot are currently running, and the maximum distance gusts. From the test results, Hybrid robot can perform tasks such as adjusting the height of the robot arm with eco robot, adjust the direction of the blow to the orientation of the eco robot, pushed eco robot at its farthest and walk straight.