Analisis Pengaruh Rantai dan Sproket terhadap Konsumsi Daya Motor pada Sistem Track Mobile Robot

Hendri Maja Saputra, Eka Putera, Dalmasius Ganjar Subagio


Analysis of the effect of using a chain and sprocket on the motor power consumption in mobile robot platform, which uses a system of tracks has been done. This study is currently important to avoid mistakes when selecting motor power to be choose when designing a mobile robot that uses a lot of chains and sprockets. The results of this research might be used as a basis for designing mobile robot track systems, especially in predicting an increase the power consumption of the motor. In the experimental set-up, 20A ACS712 sensor was coupled in series to the motor cables to get the current consumption, while the module voltage divider was used to retrieve the value as the voltage.  The sensors were connected to the Arduino Nano V3 microcontroller to process the data obtained were then stored and displayed on a laptop. Tests were conducted on five conditions, namely the complete transmission (full load), minus one flipper, minus two flippers, without the track wheel (connected to the shaft), and free-load motors. The results showed that use of chains and sprockets at full load conditions increases the consumption of motor power of 215% compared with that of no load.

Analisis pengaruh penggunaan rantai dan sproket terhadap konsumsi daya motor pada platform mobile robot yang menggunakan sistem track telah dilakukan. Penelitian ini saat penting dilakukan untuk menghindari kesalahan pada saat pemilihan daya motor yang akan digunakan ketika rancang bangun mobile robot yang banyak menggunakan rantai dan sproket. Hasil penelitian ini diharapkan dapat digunakan sebagai dasar dalam merancang mobile robot sistem track, terutama dalam memprediksi peningkatan konsumsi daya motor. Pada set-up pengujian, sensor ACS712 20A dipasangkan secara seri pada kabel motor untuk mendapatkan konsumsi arus, sedangkan modul pembagi tegangan digunakan untuk mengambil nilai tegangan. Sensor-sensor tersebut dihubungkan dengan mikrokontoler Arduino Nano V3 untuk mengolah data yang didapat yang kemudian disimpan dan ditampilkan pada laptop. Pengujian dilakukan pada lima kondisi, yaitu transmisi lengkap (beban penuh), minus 1 flipper, minus 2 flipper, tanpa track wheel (terhubung dengan poros), dan motor bebas beban. Hasil penelitian menunjukkan bahwa penggunaan rantai dan sproket pada kondisi beban penuh meningkatkan konsumsi daya motor sebesar 215% dari pada konsumsi daya pada keadaan bebas beban.


rantai, sproket, konsumsi daya, track drive, mobile robot

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