Hybrid robot climbing system design

1st Nommensen International Conference on Technology and Engineering

Irawan, Agustinus Purna^1 ; Halim, Agus^1 ; Kurniawan, Hengky^1

Department of Mechanical Engineering, Faculty of Engineering, Universitas Tarumanagara, Jakarta

11440, Indonesia^1

关键词: Analysis softwares;    Analytical method;    Frame structure;    Hybrid robots;    Maximum velocity;    Optimal mechanism;    Robot development;    Von Misses stress;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/237/1/012006/pdf
DOI  :  10.1088/1757-899X/237/1/012006

来源: IOP

【 摘 要 】

This research aims to develop a climbing hybrid robot, especially to design the structure of robot that quite strong and how to build an optimal mechanism for transmitting the motor's rotation and torque to generate movement up the pole. In this research we use analytical methods using analysis software, simulation, a prototype, and robot trial. The result showed that robot could climb a pole by with maximum velocity 0.33m/s with a 20 kg load. Based on a weight diversity trial between 10 kg and 20 kg we obtained climb up load factor with value 0.970 ± 0.0223 and climb down load factor with value 0.910 ± 0.0163. Displacement of the frame structure was 7.58 mm. To minimize this displacement, the gate system was used so as to optimize the gripper while gripping the pole. The von Misses stress in the roller was 48.49 MPa, with 0.12 mm of displacement. This result could be a reference for robot development in further research.