Steven Sanjaya, . (2026) RANCANG BANGUN LENGAN ROBOT 2-DOF SEBAGAI ALAT PENYIRAM TANAMAN. Skripsi thesis, Universitas Pembangunan Nasional Veteran Jakarta.
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Abstract
This research designs and implements a 2 Degree of Freedom (DOF) robotic arm manipulator mechanism as an automation solution for plant care systems, specifically to enhance watering efficiency. The development of this system aims to deliver an automatic watering device focusing on movement accuracy, workspace flexibility, and device portability. The primary focus of this study encompasses the mechanical design of the 2-DOF robotic arm, the integration of a belt drive transmission system, and the formulation of a microcontroller-based control system. System performance evaluation was conducted through three main phases: Precision Testing to analyze positional accuracy, Watering Range Testing to validate the operational radius in the field, and Mass Testing to measure the total unit weight as a benchmark for device portability. The Precision Testing results indicated a constant spatial deviation (error) on the Y-axis ranging from 1,09 cm to 3,15 cm, where this stable deviation pattern confirms a high level of positional repeatability. Workspace analysis via CAD SolidWorks generated a total workspace area of 34,96 cm² with an effective operational area of 29,48 cm², which was functionally validated using an R385 diaphragm water pump at angles of 30°, 60°, and 90° precisely on the intended targets. Meanwhile, Mass Testing recorded the actual total weight of the device at 2.974,5 grams (2.9745 kg), demonstrating that the utilization of 3D-printed materials successfully created a lightweight arm structure, safe from excessive torque loads, and highly portable for dynamic plant watering systems. Keywords: 2-DOF Robotic Arm, Plant Watering, Positional Accuracy, Workspace, Portable.
| Item Type: | Thesis (Skripsi) |
|---|---|
| Additional Information: | [No.Panggil: 2210311007} [Pembimbing: Muhammad Arifudin Lukmana] [Pembimbing: Sigit Pradana] [Penguji 1: Muchamad Oktaviandri] [Penguji 2: Nicky Yongkimandalan] |
| Uncontrolled Keywords: | 2-DOF Robotic Arm, Plant Watering, Positional Accuracy, Workspace, Portable |
| Subjects: | T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery T Technology > TS Manufactures |
| Divisions: | Fakultas Teknik > Program Studi Teknik Mesin (S1) |
| Depositing User: | STEVEN SANJAYA |
| Date Deposited: | 28 Aug 2026 01:25 |
| Last Modified: | 31 Aug 2026 01:30 |
| URI: | http://repository.upnvj.ac.id/id/eprint/53723 |
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