PERENCANAAN SISTEM MEKANIK DAN KINEMATICS SWERVE WHEEL UNTUK AUTONOMOUS MOBILE ROBOT

*Hermawan Putranto  -  Department of Mechanical Engineering, Universitas Diponegoro, Jl. Prof. Sudarto, SH, Tembalang, Semarang, Indonesia 50275, Indonesia
Munadi Munadi  -  Department of Mechanical Engineering, Universitas Diponegoro, Jl. Prof. Sudarto, SH, Tembalang, Semarang, Indonesia 50275, Indonesia
Mochammad Ariyanto  -  Department of Mechanical Engineering, Universitas Diponegoro, Jl. Prof. Sudarto, SH, Tembalang, Semarang, Indonesia 50275, Indonesia

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Abstract

Perkembangan teknologi robotika mendorong kebutuhan akan sistem mekanik roda yang fleksibel dan presisi untuk mendukung mobilitas robot otonom. Salah satu solusi yang ditawarkan adalah penggunaan mekanisme swerve wheel, yang memungkinkan roda bergerak secara independen dalam translasi dan rotasi, sehingga robot dapat bermanuver ke segala arah tanpa mengubah orientasi badan. Penelitian ini bertujuan untuk merancang dan membangun mekanisme swerve wheel tipe koaksial dengan konfigurasi tiga roda sebagai basis sistem mobilitas robot. Metode penelitian meliputi analisis kebutuhan torsi, perhitungan rasio gear, pemodelan kinematika, serta proses manufaktur yang mencakup pencetakan 3D untuk komponen penopang, pemesinan CNC untuk base plate, pengeboran batang hollow, hingga perakitan komponen mekanik seperti shaft, bearing, roda, dan motor BLDC. Hasil penelitian menunjukkan bahwa prototipe swerve wheel yang dihasilkan memiliki konstruksi yang kokoh, ringan, serta mendukung pergerakan roda dengan presisi, sehingga memenuhi kriteria perancangan mekanisme untuk aplikasi robot otonom. Dengan demikian, rancangan ini dapat menjadi dasar pengembangan sistem mobilitas robot dengan tingkat manuverabilitas tinggi di masa depan.

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Keywords: kinematika; manufaktur; perancangan mekanik; robot otonom; swerve wheel
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