Perancangan Mekanisme Suction Pada Robot Pembersih Kaca Gedung Bertingkat
Abstract
Abstrak — Pembersihan kaca pada gedung bertingkat menghadirkan tantangan keselamatan dan efisiensi yang signifikan. Untuk menjawab permasalahan tersebut, penelitian ini merancang prototipe robot pembersih kaca dengan mekanisme adhesi berbasis thrust-suction menggunakan motor Electric Ducted Fan (EDF). Sistem ini memanfaatkan kombinasi gaya dorong dan tekanan negatif untuk mempertahankan posisi robot pada permukaan vertikal. Pengaturan daya adhesi dilakukan secara real-time menggunakan kontroler PID berbasis ESP32-WROOM-32 dan sensor arus PZEM-017 sebagai feedback utama. Mobilitas robot didukung oleh sistem roda rantai yang memungkinkan pergerakan pada permukaan kaca vertikal. Hasil pengujian menunjukkan bahwa sistem mampu mencapai kestabilan adhesi yang berhasil menopang beban vertikal maksimum seberat 2700 gram. Sistem kontrol PID menunjukkan rise time rata-rata dibawah 4 detik namun menghasilkan overshoot yang signifikan hingga 17.34% pada setpoint arus tinggi (45 A), mengindikasikan adanya karakteristik non-linear. Secara efisiensi, sistem dengan kontrol PID terbukti beroperasi 5.7°C lebih dingin dibandingkan kontrol manual saat menahan beban maksimum, menunjukkan adanya peningkatan efisiensi termal sebesar 14.6%. Kata kunci— robot pembersih kaca, thrust-suction, motor edf, kontrol pid, gedung bertingkat
References
Jiang, H. (2024). Design of a New Glass Cleaning
Robot. Journal of Theory and Practice of Engineering
Science, 4(01), 28–33.
https://doi.org/10.53469/jtpes.2023.04(01).04
Liu, W., Chen, J., Fei, Y., Hu, Z., Yu, C., & Gao, W.
(2024). A Design Study on Commercial Cleaning
Robots Based on Kano–QFD. Sustainability
(Switzerland), 16(20).
https://doi.org/10.3390/su16208935
Muthugala, M. A. V. J., Vega-Heredia, M., Mohan, R.
E., & Vishaal, S. R. (2020). Design and control of awall
cleaning robot with adhesion-awareness. Symmetry,
(1). https://doi.org/10.3390/SYM12010122
Zhu, J., Zhu, Y., & Zhang, P. (2024). Review of
advancements in wall climbing robot techniques.
Franklin Open, 8, 100148.
https://doi.org/10.1016/j.fraope.2024.100148
Vega-Heredia, M., Mohan, R. E., Wen, T. Y., ’Aisyah,
J. S., Vengadesh, A., Ghanta, S., & Vinu, S. (2019).
Design and modelling of a modular window cleaning
robot. Automation in Construction, 103, 268–278.
https://doi.org/10.1016/j.autcon.2019.01.025
2017 25th Mediterranean Conference on Control and
Automation (MED) : MED 2017 : July 3-6, 2017,
University of Malta, Valletta Campus, Malta. (2017).
IEEE.
Liang, P., Gao, X., Zhang, Q., Gao, R., Li, M., Xu, Y.,
& Zhu, W. (2021). Design and stability analysis of a
wall-climbing robot using propulsive force of propeller.
Symmetry, 13(1), 1–12.
https://doi.org/10.3390/sym13010037
IEEE ICMA 2008 : proceedings of 2008 IEEE
International Conference on Mechatronics and
Automation : August 5-8, 2008, Takamatsu, Japan.
(2008). IEEE.
Bozic, M., Jerbic, B., & Svaco, M. (2021). Development
of a Mobile Wall-Climbing Robot with a Hybrid
Adhesion System. 2021 44th International Convention
on Information, Communication and Electronic
Technology, MIPRO 2021 - Proceedings, 1136–1142.
https://doi.org/10.23919/MIPRO52101.2021.9596717
Jona, A., & Alkamachi, A. (2024). Design, Modeling
and PID Control of a Cable-Driven Wall Climbing
Robot Using Genetic Algorithms. Journal Europeen
Des Systemes Automatises, 57(6), 1677–1685.
https://doi.org/10.18280/jesa.570615
Shenxi Machinery Group. (n.d.). *Wall Cleaning
Robot*. Retrieved May 21, 2025, from
https://www.shenxi.com/plist/wall-cleaning-robot
International Code Council. (2015). International
Building Code 2015 (Chapter 9, Section 902.1).
Retrieved May 21, 2025, from
https://codes.iccsafe.org/s/IEBC2015/chapter-9-
alterations-level-3/IEBC2015-Ch09-Sec902
Zhang, H., Wu, J., An, Y., Xie, P., & Cui, D. (2024).
Research on Trajectory-Tracking Control System of
Tracked Wall-Climbing Robots. Sensors, 24(1).
https://doi.org/10.3390/s24010144
Nguyen, V. T., Nguyen, N. K., Nguyen, C. C., & Bui,
N. T. (2021). A Study of Wall-Climbing Robot for
Cleaning Silo Using Vacuum Principle. International
Journal of Mechanical Engineering and Robotics
Research, 10(7), 368–373.
https://doi.org/10.18178/ijmerr.10.7.368-373
Zulkifli, R., Husain, A. R., Ibrahim, I. S., Mazni, M., &
Fauzan, N. H. A. M. (2022). Analysis of the Hybrid
Adhesion Mechanism of the Wall Climbing Robot.
Lecture Notes in Electrical Engineering, 921 LNEE,
–169. https://doi.org/10.1007/978-981-19-3923-
_14
Cao, K., Qin, G., Zhou, J., Xu, J., Xu, L., & Ji, A.
(2024). Design and experimental research of a rollingadsorption wall-climbing robot. Industrial Robot, 51(2),
–268. https://doi.org/10.1108/IR-08-2023-0194
Rajendran, R., & Arockia Dhanraj, J. (2023). A
comparative survey on weight & payload of wall
climbing robot (WCR) using magnetic adhesive,
suction adhesive and fusion type adhesive. Materials
Today: Proceedings.
