Robot Beroda Perambat Dinding Berbasis Mikrokontroler ATmega 2560 Dilengkapi Kendali Nirkabel dan Penghindar Rintangan

DOI: https://doi.org/10.14710/jtsiskom.5.2.2017.49-56
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Article Info
Submitted: 2016-12-20
Published: 2017-04-30
Section: Articles

This research developed a mobile wall climbing robot prototype using 4 DC motors as its driver and a suction tube. It can avoid obstacles. This robot uses Arduino Mega 2560 as its controller board. The robot's weight is 747 grams. The suction tube produces a suction force of 7.815N capable of holding the robot load in a stall vertical position using 12V of voltage. The robot able to crawl down and horizontal, but still can not climb vertically. The robot is able to receive a command of motion manually from a 2.4GHz wireless joystick. In automatic mode, the robot can avoid obstacles using the HC-SR04 proximity sensor. This research also shows the relationship between suction force and the given voltage of DC brushless motor and its throtle value.

Penelitian ini mengembangkan sebuah purwarupa robot perambat dinding beroda dengan 4 buah motor DC sebagai penggerak dan sebuah tabung hisap serta dapat menghindari rintangan. Robot ini menggunakan Arduino Mega 2560 sebagai papan kontrolernya. Bobot robot adalah 747 gram. Gaya hisap dari tabung hisap sebesar 7,815N mampu menahan beban robot dalam posisi diam vertikal di tegangan 12V. Robot mampu merambat turun dan mendatar, namun masih tidak bisa naik vertikal. Robot mampu diberikan perintah gerak secara manual dari tombol joystick playstation nirkabel 2,4 GHz. Di mode otomatis, robot dapat bergerak menghindari rintangan menggunakan sensor jarak HC-SR04. Dalam penelitian ini ditunjukkan hubungan antara gaya hisap dengan nilai tegangan motor DC brushless dan nilai throtle-nya.

Keywords

Robot perambat dinding; Arduino ATmega 2560; Kendali nirkabel; Tabung hisap; Gaya hisap

  1. Eko Didik Widianto  Orcid Scopus Scholar Sinta
    Program Studi Sistem Komputer, Universitas Diponegoro , Indonesia
  2. Ufan Alfianto 
    Program Studi Sistem Komputer, Universitas Diponegoro , Indonesia
  3. R. Rizal Isnanto  Scopus Scholar
    Program Studi Sistem Komputer, Universitas Diponegoro , Indonesia
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