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RANCANG BANGUN ROBOT SOLDERING SCARA (Selective Compliance Assembly Robot Arm) 4 DOF (Degree Of Freedom) BERBASIS ARDUINO MEGA 2560 DENGAN METODE KINEMATIK

Indwa, Rama (2026) RANCANG BANGUN ROBOT SOLDERING SCARA (Selective Compliance Assembly Robot Arm) 4 DOF (Degree Of Freedom) BERBASIS ARDUINO MEGA 2560 DENGAN METODE KINEMATIK. Undergraduate thesis, Universitas Diponegoro.

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Abstract

Proses soldering PCB secara manual masih rentan terhadap ketidaktepatan posisi, fluktuasi suhu, dan kelelahan operator. Penelitian ini bertujuan merancang robot soldering SCARA 4 DOF berbasis Arduino Mega 2560 dengan metode kinematik untuk mendukung otomasi penyolderan PCB. Kebaruan sistem terletak pada integrasi forward kinematic, mode manual, mode teaching hingga 50 waypoint, HMI Nextion, umpan balik posisi AS5600 melalui TCA9548A, serta kendali suhu soldering iron menggunakan thermocouple tipe-K, MAX6675, dan SSR dalam satu prototipe berbiaya rendah. Metode penelitian dilakukan melalui perancangan mekanik, elektrikal, perangkat lunak, HMI, workspace, dan pengujian komponen serta sistem terintegrasi. Hasil pengujian menunjukkan stepdown XL4016 menghasilkan tegangan 5 V dengan efisiensi 82,44-85,02%, HMI berfungsi pada seluruh tombol, AS5600 memiliki error maksimum 0,03%, dan forward kinematic memiliki error pembulatan maksimum 0,68 mm. Pengujian keseluruhan menghasilkan rata-rata error posisi 0,23%, feeding timah 3 cm per 3 detik, dan dwell time 4 detik. Dengan demikian, robot yang dirancang layak digunakan sebagai platform otomasi soldering PCB berbasis SCARA.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: SCARA Robot, Pcb Soldering, Arduino Mega 2560, Forward Kinematic, Nextion HMI, AS5600
Subjects: Engineering > Electrical Engineering
Divisions: School of Vocation > Diploma in Instrumentasi and Electronics
Depositing User: Oktavia Perpus Vokasi
Date Deposited: 30 Jun 2026 06:47
Last Modified: 30 Jun 2026 06:47
URI: https://eprints2.undip.ac.id/id/eprint/54983

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