By Kevin Irawan
11401051
BACHELOR’S DEGREE in
MECHANICAL ENGINEERING – MECHATRONICS CONCENTRATION FACULTY OF ENGINEERING AND INFORMATION TECHNOLOGY
SWISS GERMAN UNIVERSITY The Prominence Tower
Jalan Jalur Sutera Barat No. 15, Alam Sutera Tangerang, Banten 15143 - Indonesia
Revision after the Thesis Defense on 16th July 2018
Kevin Irawan STATEMENT BY THE AUTHOR
I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, nor material which to a substantial extent has been accepted for the award of any other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.
Kevin Irawan
_____________________________________________
Student Date
Approved by:
Dr. Rusman Rusyadi, B.Sc., M.Sc.
_____________________________________________
Thesis Advisor Date
Dr. Irvan Setiadi Kartawiria, S.T., M.Sc.
_____________________________________________
Dean Date
Kevin Irawan ABSTRACT
DEVELOPMENT OF DELTA ROBOT AS AUTOMATIC SORTING, PICKING, AND PLACING USING ROBOT OPERATING SYSTEM
By Kevin Irawan
Dr. Rusman Rusyadi, B.Sc., M.Sc., Advisor
SWISS GERMAN UNIVERSITY
This thesis discussed the application of a delta robot as a robot to do sorting, picking and placing activity. To perform pick and place task, the delta robot is divided into two main subsystems such as delta robot vision system and delta robot arm structure.
Different objects with various simple shapes were the parameters of how successful this project would be. The previous thesis had implemented Robot Operating System (ROS) to the delta robot. Vast package from ROS library was proved to be beneficial for developing this project. Finally, the result of this thesis was the system that can perform sorting, picking and placing task automatically, using ROS as its medium to manipulate data and improving the existing delta robot to its maximum potential.
Keywords: Delta Robot, Robot Kinematics, Robot Operating System, Gripper
Kevin Irawan
© Copyright 2018 by Kevin Irawan All rights reserved
Kevin Irawan DEDICATION
I dedicate this works for my mother, my family and my advisor, Dr. Rusman Rusyadi, B.Sc., M.Sc., without whom this thesis would be incomplete and the future of the
country I loved: Indonesia
Kevin Irawan ACKNOWLEDGEMENTS
First of all, I am grateful to the God for the strength, good health, and well-being that were necessary to complete this thesis. I wish to express my sincere thanks to Dr.
Rusman Rusyadi, B.Sc., M.Sc., my advisor, for sharing his guidance, experience, and knowledge throughout the making of this thesis. His expertise in robot programming and valuable encouragement are really valuable. I could not have imagined having a better advisor and mentor for my Bachelor study.
I place on record, my sincere thank you to Dr. Irvan Setiadi Kartawiria, S.T., M.Sc., Dean of the Faculty, for the continuous encouragement.
I am also grateful to Yohanes Freddy Pranoto, the SGU workshop superintendent. His guidance regarding the use of the necessary facility in the workshop is the very important part.
I take this opportunity also to express my sincere gratitude to all of the Mechatronics Department faculty members, lecturers, and librarians, for their support throughout the Curriculum.
Lastly, thanks to Workshop group and the rest of Mechatronics 2014 students which have been filling my precious university life with joy, happiness, and encouragement in every moment. Without all, who directly and indirectly have lent their hands, this thesis will not be completed.
Kevin Irawan TABLE OF CONTENTS
Page
STATEMENT BY THE AUTHOR ... 2
ABSTRACT ... 3
DEDICATION ... 5
ACKNOWLEDGEMENTS ... 6
TABLE OF CONTENTS ... 7
LIST OF FIGURES ... 10
LIST OF TABLES ... 14
CHAPTER 1 – INTRODUCTION ... 16
1.1 Background ... 16
1.2 Research Objectives ... 17
1.3 Hypothesis ... 17
CHAPTER 2 – LITERATURE REVIEW ... 18
2.1 SGU Delta Robot ... 18
2.2 Delta Robot Kinematics ... 19
2.3 Delta Robot Workspace Analysis ... 20
2.4 Robot Mechanical Gripper Design Classification ... 21
2.5 Robot Operating System (ROS) ... 23
2.6 Rosserial Python ... 24
2.7 Joint Actuators ... 25
2.8 Micro Servo for Gripper Actuators ... 26
2.9 Microcontroller ... 27
2.10 Motor Driver ... 28
2.11 Sensors and Feedback Components ... 30
2.12 Camera for Delta Robot Vision ... 30
CHAPTER 3 – RESEARCH METHODS ... 32
3.1 Preliminary System Design ... 32
3.1.1 General Methodology ... 32
3.1.2 Approach ... 32
3.2 Analysis and Problem Identification of Existing System ... 33
Kevin Irawan
3.2.1.2 Delta Robot Gripper ... 35
3.2.2 Electrical Analysis ... 36
3.2.3 Software Analysis ... 37
3.3 Development and Improvement of Delta Robot ... 38
3.3.1 Delta Robot Kinematics Analysis ... 38
3.3.3.1 Forward Kinematics ... 39
3.3.3.2 Inverse Kinematics ... 42
3.3.3.3 Joint Actuators Configuration ... 45
3.3.2 Design of Delta Robot Gripper ... 46
3.3.3 Electrical Improvement ... 53
3.3.4 Software Improvement ... 56
3.3.4.1 Installation and Software Environment Setup ... 56
3.3.4.2 Division of Tasks and Communications between Subsystems ... 57
3.3.4.3 Delta Robot Kinematics Solution Algorithm ... 59
3.3.4.4 Controlling Delta Robot Actuators ... 63
3.3.4.5 Gripper Controller ... 65
3.3.4.6 Conveyor Speed Reading and Controller ... 66
3.3.4.7 Manual Controller ... 70
3.3.4.8 World Coordinate ... 73
3.3.4.9 Delta Robot Looping Sequence ... 74
CHAPTER 4 – RESULTS AND DISCUSSIONS ... 79
4.1 Testing of Subsystems ... 79
4.1.1 Conveyor Speed Test Result ... 79
4.1.2 Rotary End – Effector Test Result ... 81
4.1.3 Gripper Test Result ... 83
4.2 Testing of Delta Robot Arm ... 84
4.2.1 Position Repeatability Analysis ... 85
4.2.2 Workspace Analysis ... 89
4.2.3 Motion Quality Analysis ... 92
4.2.4 Static Test ... 95
4.3 Testing of Overall System ... 98
4.3.1 Testing Cycle Time of Delta Robot Looping Sequence ... 98
4.3.2 Picking, Placing and Sorting using Camera Vision Test Result ... 100
CHAPTER 5 – CONCLUSION AND RECOMMENDATIONS ... 104
Kevin Irawan
GLOSSARY ... 106
REFERENCES ... 107
APPENDIX A – PROGRAM CODE ... 109
APPENDIX B – GRIPPER TECHNICAL DRAWING ... 126
APPENDIX C – TECHNICAL INFORMATION ... 129
APPENDIX D – ROS LAUNCH FILES ... 137
CURRICULUM VITAE ... 141
