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All Journal GEMA TEKNOLOGI
Alfonsus Giovanni
Universitas Diponegoro
Computer Science & IT

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Rancang Bangun 6-DoF Welding Arm Manipulator Robot Berbasis STM32 Alfonsus Giovanni; Fakhruddin Mangkusasmito
Gema Teknologi Vol 22, No 3 (2023): April 2023 - October 2023
Publisher : Vocational School Diponegoro University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14710/gt.v22i3.90293

Abstract

In the era of Industry 4.0, the demand for automation in the manufacturing sector continues to grow, particularly in welding processes that require high efficiency, consistency, and quality. Robotic arm manipulators have become a widely adopted solution in various countries, including Indonesia. However, the dominance of imported products poses challenges such as high investment costs and limited customization capabilities. This research aims to design and develop a six-degree-of-freedom (6-DoF) welding robotic arm manipulator using the STM32H7 microcontroller as the main control system. The STM32H7 was selected for its high processing performance, low power consumption, and flexibility in integrating sensors and actuators. The outcomes of this study are expected to contribute as an alternative solution for the development of domestic industrial robotics, thereby reducing reliance on imported technologies and supporting national technological self-sufficiency. Several tests were conducted on the developed system, including repeatability testing. The results indicate that the prototype achieved a repeatability value of ±0.225 mm, which is still lower than that of comparable industrial-grade systems (±0.02 mm). This finding suggests that while the system shows promise, further refinement is required to meet industrial performance standards
Co-Authors Fakhruddin Mangkusasmito