Analysis of The Effect of Track Roughness on The Chassis Design of The Tomato Sorting Robot Based on The Arduino Mega Microcontroller

Abstract

The wheel chassis is a component that is combined with the Arduino Mega microcontroller in the automatic tomato fruit sorting process. In its application in the field of wheel chassis that moves according to a determined route following a line (line Follower) along 2.2 m which in application will run on smooth and rough paths. The difference between the type of fine and coarse trajectory lies in the coefficient of friction on the fine line of 0.8 µk and the coefficient of 1 µk and will cause differences in the results of the sorting. The difference in roughness values must be analyzed to determine their effect on the sorting time, the number of wheel rotations, the angular speed, linear speed, wheel torque, and motor power when performing the sorting. This analysis process requires several additional components to help the wheel chassis work properly such as the Arduino Mega, robot arm kit, wheel chassis, motor driver, DC motor, power supply, color sensor servo motor and line sensors connected by cables and jumpers. These components are assembled in such a way that they can function properly and the addition of a programming language in the form of the C language with the help of the Arduino IDE software. The data collection method is the experimental method with a simulation experiment using a sample of 30 tomatoes which are green and red. The results of the collection of tomato fruit sorting data with the line follower robot show that the average sorting time is 12.41 s for the smooth and 11.04 s for the coarse path with the average number of wheel turns 11.90 times for smooth and 11, 61 turns for rough passes. In addition, the angular velocity of the wheels is obtained with a value of 6.02 rad/s for smooth passes and 6.61 rad/s for rough trajectories and the linear velocity of the wheel chassis is 0.25 rad/s for smooth trajectories and 0.28 for rough trajectories. For motor torque and power, the respective values are 0.034 Nm for the smooth track and 0.042 Nm for the rough track and the value is 12.255 watts on the smooth track and 16.764 watts on the rough track for motor power when sorting.