Kohesi: Jurnal Sains dan Teknologi

Articles

Vol. 10 No. 8 (2026): Kohesi: Jurnal Sains dan Teknologi, ISSN 3025-1311

RANCANG BANGUN ROBOT HEXAPOD DENGAN MEKANISME GRIPPER

Submitted
January 16, 2026
Published
2026-01-17

Abstract

          This study discusses the design and implementation of a hexapod robot with a gripper as a prototype for the Indonesian SAR Robot Contest (KRSRI). The hexapod robot was designed with six legs controlled using inverse kinematics and a tripod gait movement pattern to maintain stability. A gripper was integrated as a manipulator to move objects according to competition criteria. The robot frame was manufactured using 3D printing PETG and carbon-fiber filled materials for lightweight and high stiffness. The control system utilized a Raspberry Pi 4B, two PWM PCA9685 modules, and 22 MG996R servo motors (18 for legs, 4 for gripper). Test results showed that the robot could walk stably for 1 m in an average of 11 seconds (~0.9 m/s) and successfully moved cylindrical objects with a diameter of 36 mm weighing ≤ 50 g. The operation duration reached approximately 30 minutes with an 11.1 V/2200 mAh battery. This research contributes to the development of rescue robots in difficult terrains and serves as a foundation for further autonomous navigation development.

Penelitian ini membahas perancangan dan implementasi robot hexapod dengan gripper sebagai prototipe untuk mendukung cabang lomba Kontes Robot SAR Indonesia (KRSRI). Robot hexapod dirancang dengan enam kaki yang dikendalikan menggunakan inverse kinematics dan pola gerak tripod gait untuk menjaga stabilitas. Gripper digunakan sebagai manipulator untuk memindahkan objek sesuai kriteria lomba. Rangka robot diproduksi dengan 3D printing PETG dan carbon-fiber filled untuk bobot ringan dan kekakuan tinggi. Sistem kontrol berbasis Raspberry Pi 4B dengan modul PWM PCA9685 serta 22 servo MG996R (18 untuk kaki, 4 untuk gripper). Hasil uji menunjukkan robot mampu berjalan stabil sejauh 1 m dengan rata-rata waktu 11 detik (~0,9 m/s) dan berhasil memindahkan objek silinder berdiameter 36 mm dengan beban ≤ 50 g. Durasi operasi mencapai ±30 menit dengan baterai 11,1 V/2200 mAh. Penelitian ini memberikan kontribusi pada pengembangan robot penyelamatan di medan sulit dan menjadi dasar pengembangan menuju navigasi otonom

References

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