PENERAPAN FLEX SENSOR PADA LENGAN ROBOT BERJARI PENGIKUT GERAK LENGAN MANUSIA BERBASIS MIKROKONTROLER

Abstract

ABSTRACT APLICATION OF FLEX SENSOR ON FINGERED ROBOTIC ARM FOLLOWED HUMAN ARM MOTION BASED OF MICROCONTROLLER ANNISA Fingered robotic arm has been used in industry and used in terms of education. Designing fingered robot arm is divided into two parts, the human arm control part (Transmitter) and fingered Robotic Arm (Receiver). Fingered Robotic Arm based of microcontroller that used ATMega 32A on controller and ATTiny 2313 on robot, and use KYL 1020U as wireless tranmission media. Finger of robot is controlled by a flex sensor Spectra Symbols 4.5 inch Series SEN 08606 by utilizing the resistivity of the flex sensor. Flex Sensor is phisically flexible bend sensor so it can followed the movement of human finger motion. Resistance range of flex sensor around 10 KΩ – 40 KΩ. Flex sensor as fingered robotic arm controller has % error around 13% - 37,7%. Each increasing 1o bend of Flex Sensor will increas the resistivity 113 Ω . Increasing of resistance value to bend degree of flex sensor will be invertly proportional with the value of resistivity on Miniservo Motor HS-81, when resistivity on Flex Sensor increas, resistivity on motor will be decreas. Mechanical and Electronic balance design is required to produce the maximum performance of fingered robotic arm. Keyword : Flex Sensor, resistivity, fingered robotic arm, microcontroller, KYL 1020