ANALISIS PERANCANGAN KONSTRUKSI MEKANIK PADA ROBOT SAR BERKAKI ENAM MENGGUNAKAN METODE FINITE ELEMENT ANALYSIS DAN INVERSE KINEMATICS

Fires often occur in dense urban areas, seen from its geographical location, urban areas that have a dense population which is an area vulnerable to fire
disasters which makes it very difficult to handle because of its location that is difficult to reach. The countermeasure that can be done is to use a hexapod robot. In this research, the stages carried out are by designing the mechanical construction of the robot and conducting FEA analysis on the mechanical construction, after that calculating Inverse kinematics and simulating Inverse
kinematics. The results obtained in this study are the dimensions of the SAR hexapod robot have a total length of 145 cm, width 85 cm and height 85 cm, with a robot
weight of 42.5 kg with a water tank capacity of 44.32 liters. The grip on the robot has a multifunctional type with a maximum load that can be lifted is 50 kg. The
inverse kinematic angle results that can be used on the robot are coxa angle 0, femur 45 and tibia -135. In static FEA simulations, the largest von mises stress is
144.2 mpa and the largest safety factor value is 1.73 ul, while in dynamic FEA the robot leg produces the largest von mises stress of 144.2 mpa and the largest safety factor value is 1.73 ul. With the results of this study it can be concluded that the robot has a safe and efficient construction design.

Keywords: Hexapod Robot, SAR, Static FEA, Inverse kinematic, Dynamic FEA