Submission Details

The need for Automated Mobile Robots (AMRs) in hospitals continues to increase along with demands for efficient distribution of medicines, samples, and medical equipment. AMR design has often been carried out without a standardized methodological framework, so design decisions are poorly documented. The problem is that few studies have applied mechatronic design methodologies such as VDI 2206 to AMRs, making the design difficult to explain from a design perspective, especially when justifying architecture, trade-offs, and integration between subsystems. This study aims to design a hospital AMR based on differential drive, BLDC motors, and ROS 2 using the VDI 2206 approach. The design follows five VDI 2206 stages: task clarification, conceptual design, preliminary embodiment design, detail design, and verification and validation. The main components used include a 350W BLDC motor, ZS-X11H driver, Jetson Nano, and Arduino Mega, with RPLIDAR A1M8 and MPU6050 IMU as sensors and ROS 2 Foxy as the software. Testing includes LiDAR readings, motor performance under loads up to 110 kg, and manual and autonomous control. The resulting design forms a three-layer architecture: perception, cognition, and actuation. Preliminary tests show that the motor–driver configuration can withstand loads up to 110 kg with a peak current of about 16 A per motor, and this value remains within the short-term operating limit of the 400 W driver. The LiDAR successfully produced a point cloud and a 2D map via SLAM Toolbox, although the mapping quality is not yet fully stable. Manual control worked well, but autonomous navigation was still disturbed by pose jumping due to suboptimal synchronization between odometry and IMU. The application of VDI 2206 makes the AMR design process more structured and easier to explain from a design perspective, although autonomous navigation still requires improvements through sensor fusion with robot_localization, increased odometry frequency, and migration to Micro-ROS.

Kebutuhan akan Robot Mobile Otonom (AMR) di rumah sakit terus meningkat seiring dengan permintaan untuk distribusi obat, sampel, dan peralatan medis yang efisien. Desain AMR sering dilakukan tanpa kerangka metodologis yang terstandarisasi, sehingga keputusan desain kurang terdokumentasi dengan baik. Masalahnya adalah bahwa sedikit studi yang menerapkan metodologi desain mekatronik seperti VDI 2206 pada AMR, membuat desain sulit dijelaskan dari perspektif desain, terutama saat membenarkan arsitektur, trade-off, dan integrasi antara subsistem. Penelitian ini bertujuan untuk merancang AMR rumah sakit berdasarkan differential drive, motor BLDC, dan ROS 2 menggunakan pendekatan VDI 2206. Desain mengikuti lima tahap VDI 2206: klarifikasi tugas, desain konseptual, desain embodiment awal, desain detail, dan verifikasi serta validasi. Komponen utama yang digunakan termasuk motor BLDC 350W, driver ZS-X11H, Jetson Nano, dan Arduino Mega, dengan RPLIDAR A1M8 dan MPU6050 IMU sebagai sensor dan ROS 2 Foxy sebagai perangkat lunak. Pengujian mencakup pembacaan LiDAR, kinerja motor di bawah beban hingga 110 kg, serta kontrol manual dan otonom. Desain yang dihasilkan membentuk arsitektur tiga lapis: persepsi, kognisi, dan aktuation. Pengujian awal menunjukkan bahwa konfigurasi motor-driver dapat menahan beban hingga 110 kg dengan arus puncak sekitar 16 A per motor, dan nilai ini tetap dalam batas operasi jangka pendek dari driver 400 W. LiDAR berhasil menghasilkan point cloud dan peta 2D melalui SLAM Toolbox, meskipun kualitas pemetaan belum sepenuhnya stabil. Kontrol manual berjalan dengan baik, tetapi navigasi otonom masih terganggu oleh lompatan pose akibat sinkronisasi yang suboptimal antara odometri dan IMU. Penerapan VDI 2206 membuat proses desain AMR lebih terstruktur dan lebih mudah dijelaskan dari perspektif desain, meskipun navigasi otonom masih memerlukan perbaikan melalui fusi sensor dengan robot_localization, peningkatan frekuensi odometri, dan migrasi ke Micro-ROS.