Desain dan Implementasi Mekanisme Smart Forklift pada AGV Berbasis Raspberry Pi 4 Model B
DOI:
https://doi.org/10.26418/justin.v9i2.43476Keywords:
AGV, forklift, mekanisme, raspberry piAbstract
Automatic Guided Vehicle (AGV) pallet truck merupakan salah satu jenis AGV yang banyak digunakan di industri. AGV jenis ini merupakan kombinasi AGV dengan mekanisme forklift. Mekanisme forklift digunakan untuk mengangkat dan membawa barang dari satu titik ke titik yang lainnya. Seiring dengan berkembangnya teknologi yang disertai dengan revolusi industri 4.0 maka kegiatan tersebut dapat dilakukan secara otomatis dengan menggunakan robot seperti AGV pallet truck. Pada dasarnya, mekanisme kerja dari AGV pallet truck sama seperti forklift pada umumnya, hanya saja AGV pallet truck sudah beroperasi secara otomatis. Motor DC (Direct Current) banyak digunakan sebagai motor penggerak untuk proses naik turun dalam mekanisme forklift pada AGV pallet truck. Motor DC dipilih karena memiliki torka yang besar untuk pengangkatan beban. Namun, motor DC juga memiliki beberapa kelemahan seperti biaya perawatannya yang mahal dan tingkat kepresisiannya masih kurang akurat. Pada penelitian ini diusulkan mekanisme smart forklift untuk AGV pallet truck yang menggunakan motor stepper dengan tingkat kepresisian tinggi dan torka yang dimiliki juga tidak kalah dengan motor DC. Mekanisme smart forklift diperlengkapi sensor jarak untuk mengukur ketinggian forklift dan jarak antara AGV dengan palet serta raspberry pi 4 model B sebagai controller.
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