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![Page 1: Struktur&Klasifikasi - relifline.files.wordpress.com · Struktur&Klasifikasi Nuryono S.W. – UAD. TH22452 ROBOTIKA 2 Sistem Robotika. TH22452 ROBOTIKA 3 Bagian Utama Sistem Robotika.](https://reader030.fdocuments.net/reader030/viewer/2022021702/5ca9844488c993d8488cc319/html5/thumbnails/1.jpg)
TH22452 ROBOTIKA 1
Struktur&Klasifikasi
Nuryono S.W. – UAD
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TH22452 ROBOTIKA 2
Sistem Robotika
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TH22452 ROBOTIKA 3
Bagian Utama SistemRobotika
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TH22452 ROBOTIKA 4
Bagian Manipulator
• End Effector
• Pergelangan• Lengan
• Joint• Base
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TH22452 ROBOTIKA 5
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TH22452 ROBOTIKA 6
Joint / Sendi
• Joint/sendi adalah Sambungan antarbagian robot yang memungkinkan adanyapergerakan
• Tersusun dari hubungan antar bagianyang disebut link
• Link Masukan: Link yg terdekat dengandasar dalam rangkaian
• Link Keluaran: Link yg melakukangerakan terhadap link masukan
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TH22452 ROBOTIKA 7
Jenis Sendi(Konvensi lama)
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TH22452 ROBOTIKA 8
Jenis Sendi(Konvensi baru)
• Sendi Prismatik/ Sendi Linear (P)Hubungan yang memungkinkan
gerakan garis lurus• Sendi Revolusi (R)
Hubungan yang memungkinkanadanya gerakan putar
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TH22452 ROBOTIKA 9
End Effector
• Bagian yg tersambung dengan joint terakhir/tangan dari manipulator, ygdigunakan untuk menangani obyek, menyambungkan dengan mesin lain, ataumelakukan tugas yg diperlukan
• Bisa berupa Gripper(Mechanical, Vacuum, Magnetized, Adhesive, welding torch, spray gun,atau glue laying device
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TH22452 ROBOTIKA 10
Orientasi Pergelangan/ Orientasi Tool
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TH22452 ROBOTIKA 11
Roll, Pitch, Yaw
• Roll: Gulungan,putaran pergelangantangan
• Pitch: Anggukan,putaran ke atas ataubawah dari pergelangan, pembengkokanpergelangan
• Yaw: Gelengan, putaran ke kanan atau kekiri dari pergelangan
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TH22452 ROBOTIKA 12
Klasifikasi Robotika
Ada 3 cara klasifikasi• Metode Gerak• Metode Kendali&Pemrograman• Geometri Robot/ Struktur manipulator
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TH22452 ROBOTIKA 13
Metode Gerak
Ada 2 metode gerak• Point to Point : Robot bergerak menuju
posisi tertentu, berhenti, end effectorbekerja, bergerak lagi dst.(a sequence of discrete points)
• Continous Path : End effector bekerjasaat robot bergerak.(follow a prescribed path, controlled-path motion)
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TH22452 ROBOTIKA 14
Penggunaan PTP
• Spot Welding• Pick & Place• Loading & Unloading
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TH22452 ROBOTIKA 15
Penggunaan CP
• Spray Painting• Arc Welding• Gluing
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TH22452 ROBOTIKA 16
Metode Kendali
Ada 2 macam• Open Loop : output tidak mempengaruhi
input, tidak ada umpan balik• Closed Loop : output mempengaruhi
input, ada umpan balik
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TH22452 ROBOTIKA 17
Open Loop
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TH22452 ROBOTIKA 18
Close Loop
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TH22452 ROBOTIKA 19
Metode Pemrograman
•• On line (Lead On line (Lead through)teachthrough)teach--byby--showing showing the desired motion the desired motion ‘‘ Manual and PoweredManual and Powered’’
•• Off line ( doesnOff line ( doesn’’t interrupt production)t interrupt production)
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TH22452 ROBOTIKA 20
Typical Programming Modes
A typical industrial robot is mostly programmed in one of the following modes:
Physical Setup ModePhysical Setup ModePhysical Setup ModePhysical Setup Mode is typical programming method for very simple pick-and-place manipulators, where programmable logic controllers (PLC's), proximity and limit switches and timers are used to perform cyclic operation of the manipulator for a desired task.
Lead Through or Teach ModeLead Through or Teach ModeLead Through or Teach ModeLead Through or Teach Mode is typical programming mode of a manipulator with positional control capability. Manipulator is moved to the desired positions by the aid of a teach pendant (a control keypad), and the desired positions are stored into program memory in the desired sequence. After teaching is accomplished, controller is set to playback mode, in which the controller moves the manipulator point to point to the desired positions .
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TH22452 ROBOTIKA 21
Continuous WalkContinuous WalkContinuous WalkContinuous Walk----Through ModeThrough ModeThrough ModeThrough Mode is an elaborated teach mode. The operator teaches the manipulator which way to move by forcing the manipulator to move in the desired way. It is conveniently used for painting and assembly robots
Software ModeSoftware ModeSoftware ModeSoftware Mode is off-line program writing mode using a text editor or graphical interface. Programming in software mode requires knowledge on operating system and robot languages. Sensor information is easily included to the programming, and computer-aided-design (CAD) database. It is the most sophisticated, and the most versatile way of programming a robot .Most industrial robots have more than one programming modes, and, the most convenient programming mode depends to the task to be programmed .
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TH22452 ROBOTIKA 22
Geometri Robot
• Ada 5 Geometri• Cartesian• Cylindrical• Spherical• Articulated/Anthromorphic• SCARA(Selective Compliance Assembly
Robot Arm)
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TH22452 ROBOTIKA 23
Cartesian (PPP)
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TH22452 ROBOTIKA 24
Cartesian (PPP)
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TH22452 ROBOTIKA 25
Silindris (RPP)
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TH22452 ROBOTIKA 26
Silindris
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TH22452 ROBOTIKA 27
Polar/Spherical (RRP)
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TH22452 ROBOTIKA 28
Articulated (RRR)
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TH22452 ROBOTIKA 29
Articulated
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TH22452 ROBOTIKA 30
SCARA
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TH22452 ROBOTIKA 31
SCARA
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TH22452 ROBOTIKA 32
SCARA
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TH22452 ROBOTIKA 33
Cartesian
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TH22452 ROBOTIKA 34
Cylindrical & Spherical
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TH22452 ROBOTIKA 35
Articulated
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TH22452 ROBOTIKA 36
Daerah Kerja/Work Space
• Ruang di mana robot mampumengantarkan/ menggerakkan ujungpergelangan
Dipengaruhi• Konfigurasi Fisik Robot• Ukuran Komponen Robot• Batas Gerakan Sendi Robot
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TH22452 ROBOTIKA 37
Reach & Stroke
• Perkiraan kasar dari ukuran Workspace• Stroke <= Reach• Horizontal Reach: Jarak terjauh yg bisa dicapai ujung
link/pangkal pergelangan dari sumbu vertical putaranrobot
• Horizontal Stroke: Jarak pergerakan horizontal pergelangan
• Vertical Reach: Ketinggian maximum dari bidang kerjalink
• Vertical Stroke: Jarak vertical yang bisa ditempuhpergelangan
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TH22452 ROBOTIKA 38
Reach&Stroke
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TH22452 ROBOTIKA 39
Daerah Kerja
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TH22452 ROBOTIKA 40
Cylindrical Work Space
• Sesuai Namanyamaka volume kerjarobot ini berbentukSilindris/tabung.
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TH22452 ROBOTIKA 41
Spherical Work Space
• Volume kerja robot iniadalah berupapotongan bola/spheris
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TH22452 ROBOTIKA 42
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TH22452 ROBOTIKA 43
Degree of Freedom(DOF)Derajat Kebebasan
• The number of independent position variables which would have to be specified in order to locate all parts of the mecanisme
• Jumlah variable posisi independen yang harusditentukan untuk menunjukkan lokasi semuabagian dari rangkaian mekanisme
• Lengan manusia 7 DOF
• Agar bisa menuju satu titik dengan orientasitertentu butuh 6 DOF
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TH22452 ROBOTIKA 44
Degree of Freedom(DOF)Derajat Kebebasan
• Degrees Of Freedoms (DOF) Minimum number of independent axes which define the mechanical motionDOF =6 for general purpose robotDOF<6 for deficient robotDOF> 6 for redundant robot
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TH22452 ROBOTIKA 45
Referensi
• Yoram Koren,”Robotics for Engineers”, McGrawHill International halaman 23-50
• Saeed B Niku, Introduct. To Robotics Analysis, Systems, Appl.”, Prentice Hall halaman 1-27
• R.J. Schilling, Fundamental of Robotics Analysis & Control”, Prentic Hall halaman1-12