PROTOTYPE FORKLIFT OMNIDIRECTIONAL WHEEL AND ROBOT ARM BASED MICROCONTROLLER ATMEGA1284 AND JOYSTICK

Abstract

Forklift omnidirectional wheel is a robot which is used to move object with more flexible and safety movement helped by robot arm and wireless control. The aim of this project is to design and build the prototype, and also to know the overall work method of the prototype forklift omnidirectional wheel and robot arm. The production of this prototype forklift omnidirectional wheel and robot arm based ATMega1284 and joystick consist of several stages such as needs identification, needs analysis, schematic block diagram, system design, prototype production steps, program flow diagram, prototype test, and data retrieval. This prototype is using minimum system of microcontroller ATmega1284 as the main processor, joystick wireless as prototype controller device, servo motor as mechanic system in robot arm, DC motor and omnidirectional wheel as motion actuator of forklift, and LCD as an information display. Based on the test results, it is obtained that this prototype forklift omnidirectional wheel and robot arm based ATmega1284 and joystick can work well. The error average forklift movement with program input degree is 0,27% and forklift movement with joystick input degree is 1,67%. The weight of the object that can be lifted no more less than 180g. The communication distance between joystick transmitter and receiver that is located in the forklift body can cover up to 20 meter in the condition which receiver cover is opened and 3 meter in condition receiver cover is closed.
Keywords: Prototype, Forklift, Omnidirectional Wheel, Robot Arm, ATMega1284, Joystick