Tugas Akhir

Design of consumption carrier arm on order delivery robots using stepper motor and limit switch / Omar Adelian Nasution

Abstrak
The development of robotics technology has brought innovative solutions to the restaurant service sector. One of the main challenges in using food delivery robots is maintaining stability during the serving process at customer tables. Improper placement of food can cause spills necessitating a safe and precise serving system. This study designs a food-carrying arm on a robot that can adjust its movement speed based on the type and quantity of food supported by mechanical and automated control systems. The purpose of this study is to design and implement an automatic tray arm system that can move stably and safely. The system utilizes limit switches to detect the number of food items and adjust the stepper motor speed accordingly during the serving process. With this system it is expected that food can be delivered without spillage thereby improving the operational efficiency of restaurants. The research begins with a literature review followed by hardware and software design. The system uses a NEMA 17 stepper motor driven by a TB6600 driver and controlled by an ESP32 microcontroller. Three limit switches are installed in food and drink slots to detect the load amount which then determines the platform rsquo s forward speed. The platform moves using a lead screw and linear rail mechanism. Tests were conducted under various load combinations and on other features such as a retract button and early initialization. The tray arm system successfully moves back and forth with precision and stability. Testing shows that the more food items detected by the limit switches the slower the stepper motor moves to maintain load stability. The retract button feature and automatic initialization at startup also functioned well. This system proved to be effective and safe for food serving in restaurant environments.

Informasi Detail

DDC

TUGAS AKHIR DIGITAL

Prodi

Universitas Negeri Malang. Program Studi Teknologi Rekayasa Sistem Elektronika, 2025.

Deskripsi Fisik

viii, 30 hlm. : ilus.

Bahasa

No Reg

4114/TA/25

Edisi

Tugas Akhir (Diploma)--Universitas Negeri Malang. 2025

Subjek

1. ROBOT PENGANTAR - MOTOR STEPPER
2. SISTEM PENYAJIAN
3. INTRODUCTORY ROBOT - STEPPER MOTOR

Pembimbing

1. Dr. Muladi, S.t., M.t.

Lampiran Berkas