MOMOT, BINTANG THEOFILUS (2019) DESIGN OF MOBILE ROBOT CHASSIS BASED ON OMNIDIRECTIONAL WHEEL. S1 thesis, Universitas Mercu Buana.
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Abstract
In the final project aims at the application of mobile robots in the indoor environment. Mobile robots must be able to move with flexibility and alert. Mobile robots must also have an autonomous system without fail. In power consumption in mobile robot performance can reduce excessive power consumption so that power consumption is more efficient. Mobile robots can be used on industrial needs in transferring loads with a very secure security system. Problems encountered by mobile robots in the movements and systems used. In the movement of the robot used wheels that can move anywhere. The wheel used in this final project is a mechanical wheel. Mobile robots can carry out tasks by using commands that are stored on the Microcontroller Unit (MCU) as the brain of the mobile robot. The MCU will regulate the commands in the movement of mobile robots with communication between components. Where to be able to move the wheels of the mobile robot must be able to walk with the Pulse Width Modulation (PWM) settings on the MCU. Control via remote control sends commands to the robot brain with Universal Synchronous Asynchronous Receiver / Transmitter (USART) communication. With the settings and commands that have been made can make the performance of mobile robots to be more leverage. The results of the design of cellular robots that have been done, the results of the movement obtained from the command consisting of the remote control to the MCU via USART and MCU to the Brushless DC Motor through the PWM signal. From the design and testing, it can be concluded that the mobile robot can work with orders on the design of each motor and wheel. Keywords: Microcontroller Unit, Pulse Width Modulation, Universal Synchronous Asynchronous Receiver/Transmitter, Brushless DC Motor.
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