ABSTRAK Saat ini banyak digunakan robot-robot untuk meningkatkan kinerja produksi. Sebagai contoh, robot yang dapat meningkatkan kinerja produksi adalah lengan robot penyortir warna yang applikasinya dapat digunakan dalam proses pemilahan benda berdasarkan warna. Pada Tugas Akhir ini dirancang dan dibuat “ Lengan robot penyortir warna menggunakan arduino uno “. Lengan robot penyortir warna ini menggunakan sensor LDR ( Light dependent resistor) dan RGB LED ( Red,green,blue light emitting diode),tiga buah servo meliputi untuk servo lengan, servo siku, dan servo capit. Lengan robot penyortir warna dapat menyortir warna hingga lima warna dan jika warna tidak terdeteksi akan dipindahkan ke wadah nomor enam.
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ABSTRACT In today’s world, robots are used to increase production perfomance. For example, a robot which can increase production perfomance is colour sorting robotic arm which can be used to sort objects by colour. In this Final Project “ Design of colour sorting robotic arm using arduino uno “ will be designed and made. The colour sorting robotic arm using sensor LDR (Light Dependent Resistor) and RGB LED ( Red,green,blue light emitting diode ), three servos for arm servo, elbow servo, and pincers servo. Colour sorting robotic arm can sort objects up to five colours and if not detected will be moved to container number six.
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DAFTAR ISI Kata Pengantar .................................................................................................... i Abstrak ................................................................................................................ ii Abstract ............................................................................................................... iii Daftar Isi ............................................................................................................. iv Daftar Gambar..................................................................................................... vii Daftar Tabel ........................................................................................................ x Daftar Lampiran .................................................................................................. xi
Bab I Pendahuluan ........................................................................................... 1 1.1 Latar Belakang ....................................................................................... 1 1.2 Identifikasi Masalah ............................................................................... 1 1.3 Tujuan .................................................................................................... 1 1.4 Pembatasan Masalah .............................................................................. 1 1.5 Sistematika Penulisan ............................................................................ 2 Bab II Landasan Teori ..................................................................................... 3 2.1 Pengertian Mikrokontroler ..................................................................... 3 2.1.1. Kegunaan Mikrokontroler ........................................................... 3 2.1.2. Mikrokontroler Arduino Uno ...................................................... 4 2.1.3. Konfigurasi Pin Arduino Uno ..................................................... 4 2.1.4. Diagram Blok ............................................................................. 7 2.2 LDR (Light Dependent Resistor ) .......................................................... 7 2.2.1. Prinsip Kerja LDR (Light Dependent Resistor ) ......................... 8 2.3 Motor Servo ........................................................................................... 8 2.3.1 Komponen Bagian Luar Servo .................................................... 10 2.3.2 Jenis Motor Servo ....................................................................... 11 2.3.3 Jenis-jenis Horn .......................................................................... 12
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2.3.4 Prinsip Kerja Servo ..................................................................... 13 2.4 Pengertian LED ( Ligh Emitting Diode ) .............................................. 14 2.4.1. Cara Kerja LED (Light Emitting Diode ) ..................................... 15 2.4.2. RGB LED ( Red,green, and blue Light Emitting Diode ) ............. 16 Bab III Perancangan......................................................................................... 17 3.1 Rancangan mekanik lengan robot dan wadahh tampak atas .................. 17 3.2 Rancangan mekanik lengan robot dan wadahh tampak depan .............. 18 3.3 Flowchart ............................................................................................... 19 3.3.1. Flowchart lengan robot penyortir warna bagian 1 ....................... 19 3.3.2. Flowchart lengan robot penyortir warna bagian 2 ....................... 20 3.3.3. Flowchart lengan robot penyortir warna bagian 3 ....................... 21 3.3.4.Flowchart pindah benda ke kotak 1 ............................................... 22 3.3.5.Flowchart pindah benda ke kotak 2 ............................................... 23 3.3.6.Flowchart pindah benda ke kotak 3 ............................................... 24 3.3.7.Flowchart pindah benda ke kotak 4 ............................................... 25 3.3.8.Flowchart pindah benda ke kotak 5 ............................................... 26 3.3.9.Flowchart pindah benda ke kotak 6 ............................................... 27 3.4 Diagram Blok ......................................................................................... 28 3.5 Merancang hardware............................................................................. 28 3.5.1 Persiapan Alat Dan Bahan ............................................................. 28 3.5.2 Perangkaian Dan Perakitan ........................................................... 33 3.6 Program ................................................................................................. 34 Bab IV Data Pengamatan ................................................................................. 39 4.1 Perincian Alat ....................................................................................... 49 4.2 Uji Coba pada siang hari ........................................................................ 40 4.3 Uji Coba pada malam hari ..................................................................... 45 4.4 Uji Coba pada malam hari menggunakan lampu berwarna kuning…....44 4.5 Tabel Kalibrasi warna............................................................................ 56
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4.6 Tabel Uji Coba pada siang hari ............................................................. 58 4.7 Tabel Uji Coba pada malam hari ........................................................... 60 4.8 Tabel Uji Coba menggunakan lampu berwarna kuning………………..62 Bab V Kesimpulan dan Saran ......................................................................... 64 5.1 Kesimpulan ........................................................................................... 64 5.2 Saran ..................................................................................................... 64 Daftar Pustaka ..................................................................................................... 65 Lampiran A ........................................................................................................ A-1 Lampiran B ........................................................................................................ B-1
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DAFTAR GAMBAR Gambar 2.1 Konfigurasi Pin Arduino Uno ......................................................... 4 Gambar 2.2 Bentuk Fisik Arduino Uno .............................................................. 6 Gambar 2.3 Simbol dan bentuk LDR .................................................................. 8 Gambar 2.4 Motor Servo .................................................................................... 9 Gambar 2.5 Komponen dalam Motor Servo ...................................................... 9 Gambar 2.6 Komponen luar Motor Servo ......................................................... 10 Gambar 2.7 Jenis-jenis konektor Motor Servo .................................................. 11 Gambar 2.8 Jenis bulat horn Motor Servo ......................................................... 12 Gambar 2.9 Jenis bulat X horn Motor Servo ..................................................... 12 Gambar 2.10 Prinsip kerja Motor Servo ............................................................ 13 Gambar 2.11 Lampu LED .................................................................................. 14 Gambar 2.12 RGB LED ..................................................................................... 16 Gambar 3.1 Rancangan tampak atas ................................................................... 17 Gambar 3.2 Rancangan tampak depan ................................................................ 18 Gambar 3.3 Flowchart lengan robot penyortir warna bagian 1 .......................... 19 Gambar 3.4 Flowchart lengan robot penyortir warna bagian 2 .......................... 20 Gambar 3.5 Flowchart lengan robot penyortir warna bagian 3 .......................... 21 Gambar 3.6 Flowchart pindah benda ke kotak 1 ................................................ 22 Gambar 3.7 Flowchart pindah benda ke kotak 2 ................................................ 23 Gambar 3.8 Flowchart pindah benda ke kotak 3 ................................................ 24 Gambar 3.9 Flowchart pindah benda ke kotak 4 ................................................ 25 Gambar 3.10 Flowchart pindah benda ke kotak 5 .............................................. 26 Gambar 3.11 Flowchart pindah benda ke kotak 6 .............................................. 27 Gambar 3.12 Blok diagram lengan robot penyortir warna ................................. 28 Gambar 3.13 Resistor.......................................................................................... 28
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Gambar 3.14 Arduino Uno ................................................................................. 29 Gambar 3.15 LDR(Light Dependent Resistor).................................................... 29 Gambar 3.16 RGB LED .................................................................................... 29 Gambar 3.17 Micro Servo .................................................................................. 30 Gambar 3.18 Standard Servo ............................................................................. 30 Gambar 3.19 Busa .............................................................................................. 31 Gambar 3.20 Kotak Kabel .................................................................................. 31 Gambar 3.21 Acrylic .......................................................................................... 32 Gambar 3.22 Cat air ........................................................................................... 32 Gambar 3.23 Rangkaian Alat lengan robot penyortir warna ............................. 33 Gambar 3.24 Tampilan awal program arduino .................................................. 34 Gambar 4.1 Perincian Alat .................................................................................. 39 Gambar 4.2 Uji Coba warna merah pada siang hari .......................................... 40 Gambar 4.3 Uji Coba warna hijau pada siang hari ............................................. 40 Gambar 4.4 Uji Coba warna biru pada siang hari ............................................... 41 Gambar 4.5 Uji Coba warna kuning pada siang hari .......................................... 41 Gambar 4.6 Uji Coba warna hitam pada siang hari ............................................ 42 Gambar 4.7 Uji Coba warna orange pada siang hari .......................................... 42 Gambar 4.8 Uji Coba warna ungu pada siang hari ............................................. 43 Gambar 4.9 Uji Coba warna merah muda pada siang hari ................................. 43 Gambar 4.10 Uji Coba warna biru muda pada siang hari ................................... 44 Gambar 4.11 Uji Coba warna kuning muda pada siang hari .............................. 44 Gambar 4.12 Uji Coba warna merah pada malam hari ...................................... 45 Gambar 4.13 Uji Coba warna hijau pada malam hari ........................................ 45 Gambar 4.14 Uji Coba warna biru pada malam hari ......................................... 46 Gambar 4.15 Uji Coba warna kuning pada malam hari ..................................... 46 Gambar 4.16 Uji Coba warna hitam pada malam hari ....................................... 47 Gambar 4.17 Uji Coba warna ungu pada malam hari ........................................ 47
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Gambar 4.18 Uji Coba warna merah muda pada malam hari ............................ 48 Gambar 4.19 Uji Coba warna hijau muda pada malam hari .............................. 48 Gambar 4.20 Uji Coba warna biru muda pada malam hari ............................... 49 Gambar 4.21 Uji Coba warna kuning muda pada malam hari ........................... 49 Gambar 4.22 Uji Coba warna merah menggunakan lampu kuning ................... 50 Gambar 4.23 Uji Coba warna biru menggunakan lampu kuning ...................... 50 Gambar 4.24 Uji Coba warna hitam menggunakan lampu kuning .................... 51 Gambar 4.25 Uji Coba warna hijau menggunakan lampu kuning ..................... 51 Gambar 4.26 Uji Coba warna kuning menggunakan lampu kuning ................. 52 Gambar 4.27 Uji Coba warna ungu menggunakan lampu kuning ..................... 52 Gambar 4.28 Uji Coba warna orange menggunakan lampu kuning .................. 53 Gambar 4.29 Uji Coba warna hijau muda menggunakan lampu kuning ........... 53 Gambar 4.30 Uji Coba warna merah muda menggunakan lampu kuning ......... 54 Gambar 4.31 Uji Coba warna biru muda menggunakan lampu kuning ............ 54
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DAFTAR TABEL Tabel 2.1 Konfigurasi Pin Arduino Uno ............................................................ 5 Tabel 4.1 Tabel kalibrasi warna .......................................................................... 55 Tabel 4.2 Tabel uji coba pada siang hari ............................................................ 57 Tabel 4.3 Tabel uji coba pada malam hari .......................................................... 59 Tabel 4.4 Tabel uji coba menggunakan lampu berwarna kuning ....................... 61
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DAFTAR LAMPIRAN Lampiran A ......................................................................................................... A-1 Lampiran B ......................................................................................................... B-1
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