DAFTAR ISI

Pendahuluan ...................................................................................................................................... 3
Desain Rangka Robot ........................................................................................................................ 4
Desain Pertama.................................................................................................................................. 4
Gambaran Umum ............................................................................................................................. 4
Gambaran Detail ............................................................................................................................... 6
1. Lantai 1............................................................................................................................................................................................................ 6
2. Fondasi Profile ................................................................................................................................................................................................ 7
3. Lantai 2............................................................................................................................................................................................................ 8
4. Control Box ..................................................................................................................................................................................................... 9
5. Lifter ......................................................................................................................................................................................... 10
Desain Final ......................................................................................................................................11
Gambaran Umum ............................................................................................................................11
Gambaran Detail ..............................................................................................................................13
1. Lantai 1.......................................................................................................................................................................................................... 13
❖ Sistem Penggerak........................................................................................................................................................................................... 14
❖ Encoder External ........................................................................................................................................................................................... 15
2. Lantai 2 ..................................................................................................................................................................................... 16
3. Control Box .............................................................................................................................................................................. 17
4. Lifter dan Gripper ..................................................................................................................................................................... 18
❖ Gripper .......................................................................................................................................................................................................... 19

Pengkabelan Elektronik ...................................................................................................................20

Skematik Board PCB Control Expansion MyRIO .................................................................................................................... 22
Desain Board PCB Control Expansion MyRIO ........................................................................................................................ 22
Tampilan Board Control Expansion .......................................................................................................................................... 23
Tampilan Board Expansion dengan perangkat yang terpasang ................................................................................................. 23
Gambar fisik Expansion Power PCB ........................................................................................................................................ 24

Sistem Manajemen Navigasi ............................................................................................................26

Sensor dan Aktuator ........................................................................................................................29
1. Sensor jarak Sharp GP spesifikasi 4-30cm sebanyak 8 buah .................................................................................................... 29
2. Limit Switch sebanyak 1 buah .................................................................................................................................................. 31
3. Stepper Motor NEMA 17 sebanyak 1 buah .............................................................................................................................. 32
4. Line Sensor Module sebanyak 6 buah ...................................................................................................................................... 33
5. Kamera Microsoft Lifecam HD sebanyak 1 buah ..................................................................................................................... 34
6. Motor Servo mg996r sebanyak 2 buah ..................................................................................................................................... 35
7. Motor DC Gearbox Planettary Gear (PG28) 600RPM Built In Encoder 7 PPR sebanyak 4buah............................................. 36
8. Rotary Encoder sebanyak 4 buah .............................................................................................................................................. 37

Sistem Manajemen Objek ................................................................................................................39

Pemrograman ...................................................................................................................................42
Flowchart ................................................................................................................................................................................... 60

Bill of Material (BOM) .....................................................................................................................61

1. Daftar Material Beserta Harga .................................................................................................................................................. 61
2. Daftar semua komponen ........................................................................................................................................................... 63

Laporan Teknik Mobile Robotics LKS Nasional 2023 2 of 69