Rancang Bangun Prototipe Robot Pembersih String Isolator Saluran Udara Distribusi Tenaga Listrik berbasis ESP32
DOI:
https://doi.org/10.22441/jte.2025.v16i1.003Keywords:
ESP32, Automatic cleaning robot, String IsolatorAbstract
Abstrak—String Isolator merupakan komponen kritis dalam sistem penyaluran tenaga listrik, String Isolator yang berada pada ruang terbuka membuatnya rentan terhadap penurunan daya isolasi akibat paparan debu dan kotoran. Hal ini dapat mengakibatkan kebocoran arus dan loncatan bunga api (Flashover). Oleh sebab itu, diperlukan perawatan berkala untuk meminimalisir. Namun, perawatan isolator saat ini masih dilakukan secara manual untuk membersihkannya. Selain mahal, metode ini berpotensi bahaya serta tidak efisien, termasuk risiko kecelakaan kerja. Penelitian ini bertujuan mengembangkan prototipe robot pembersih otomatis string isolator yang dirancang untuk mengoptimalkan proses perawatan isolator, serta dapat mengurangi biaya operasional dan risiko yang terkait dengan perawatan secara manual. Prototipe robot dilengkapi dengan sensor debu ZH03A untuk mendeteksi partikel debu, sensor jarak VL53L0X untuk navigasi, dan sikat pembersih untuk membersihkan bilah isolator secara otomatis. Prototipe robot diuji dengan metode pengujian statis dan dinamis. Hasil pengujian sensor debu dan sensor jarak menunjukkan nilai rata-rata error masing-masing sebesar 2,23% dan 2,28%. Waktu tempuh robot dalam satu siklus pembersihan sekitar 29,32 detik, sementara respon sistem terhadap sensor debu hingga motor bergerak sekitar 2,47 detik. Secara keseluruhan, prototipe robot pembersih otomatis string isolator ini dapat berjalan sesuai rancangan. Prototipe ini diharapkan dapat meningkatkan efisiensi perawatan string isolator dan mengurangi risiko kecelakaan kerja.
Downloads
References
D. R. Syahputra, TRANSMISI DAN DISTRIBUSI TENAGA LISTRIK, 1 ed. Yogyakarta: LP3M UMY, 2021. [Daring]. Tersedia pada: https://elektro.umy.ac.id/wp-content/uploads/2023/04/Ramadoni-Syahputra__Transmisi-dan-Distribusi-Tenaga-Listrik-diktat-2.pdf
A. F. Hidayat, “Isolator Jaringan Tenaga Listrik Tegangan Menengah 20 KV,” Edukasikini.com. [Daring]. Tersedia pada: https://www.edukasikini.com/2017/05/isolator-jaringan-tenaga-listrik.html
J. Y. Park, J. K. Lee, B. H. Cho, dan K. Y. Oh, “An inspection robot for live-line suspension insulator strings in 345-kV power lines,” IEEE Trans. Power Deliv., vol. 27, no. 2, hlm. 632–639, 2012, doi: 10.1109/TPWRD.2011.2182620.
K.-C. Park, Y. Motai, dan J. R. Yoon, “Acoustic Fault Detection Technique for High-Power Insulators,” IEEE Trans. Ind. Electron., vol. 64, no. 12, hlm. 9699–9708, Des 2017, doi: 10.1109/TIE.2017.2716862.
L. Fang, X. Xu, dan X. Guo, “A New Climbing Robot for Suspension Insulator Strings,” IEEE2016 4th Int. Conf. Appl. Robot. Power Ind. CARPI, Okt 2016, doi: 10.1109/CARPI.2016.7745640.
L. Wang, “A survey on insulator inspection robots for power transmission lines,” 2016 4th Int. Conf. Appl. Robot. Power Ind. CARPI 2016, no. Query date: 2023-09-10 09:37:37, 2016, doi: 10.1109/CARPI.2016.7745639.
S. Byun, B. Cho, J. Park, dan J. Lee, “Implementation of Control System for Insulator Cleaning Robot,” dalam 2006 SICE-ICASE International Joint Conference, Busan Exhibition & Convention Center-BEXCO, Busan, Korea: IEEE, 2006, hlm. 3044–3047. doi: 10.1109/SICE.2006.314708.
A. B. Alhassan, “Power transmission line inspection robots: A review, trends and challenges for future research,” Int. J. Electr. Power Energy Syst., vol. 118, no. Query date: 2023-09-10 09:37:37, 2020, doi: 10.1016/j.ijepes.2020.105862.
J. Park, B. Cho, dan S. Byun, “Development of Automatic Cleaning Robot for Live-line Insulators,” dalam ESMO 2006 - 2006 IEEE 11th International Conference on Transmission & Distribution Construction, Operation and Live-Line Maintenance, Albuquerque, NM, USA: IEEE, 2006, hlm. 4144494. doi: 10.1109/TDCLLM.2006.340726.
M. R. Bahrami, “Mechanics of robot inspector on electrical transmission lines conductors: Performance analysis of dynamic vibration absorber,” Vibroengineering Procedia, vol. 25, no. Query date: 2023-09-10 09:37:37, hlm. 60–64, 2019, doi: 10.21595/vp.2019.20807.
fitrah Surya, “Penyebab listrik padam dan solusinya.” [Daring]. Tersedia pada: https://www.interjaya.com/blog/kenali-penyebab-listrik-padam-dan-solusinya/
Zhiyong Cheng, Juan Jia, Liang Zhong, Rui Guo, Chunlei Han, dan Richeng Zhu, “Development of insulator cleaning robot,” dalam 2016 4th International Conference on Applied Robotics for the Power Industry (CARPI), Jinan, China: IEEE, Okt 2016, hlm. 1–3. doi: 10.1109/CARPI.2016.7745641.
Yana Gracia dan L. M. Randolph, “Inhalable Particulate Matter and Health (PM2.5 and PM10),” 2023, California. [Daring]. Tersedia pada: https://ww2.arb.ca.gov/resources/inhalable-particulate-matter-and-health
Downloads
Published
How to Cite
Issue
Section
License
The copyright to this article is transferred to Universitas Mercu Buana (UMB) if and when the article is accepted for publication. The undersigned hereby transfers any and all rights in and to the paper including without limitation all copyrights to UMB. The undersigned hereby represents and warrants that the paper is original and that he/she is the author of the paper, except for material that is clearly identified as to its original source, with permission notices from the copyright owners where required. The undersigned represents that he/she has the power and authority to make and execute this assignment.
We declare that:
1. This paper has not been published in the same form elsewhere.
2. It will not be submitted anywhere else for publication prior to acceptance/rejection by this Journal.
3. A copyright permission is obtained for materials published elsewhere and which require this permission for reproduction.
Furthermore, I/We hereby transfer the unlimited rights of publication of the above mentioned paper in whole to UMB. The copyright transfer covers the exclusive right to reproduce and distribute the article, including reprints, translations, photographic reproductions, microform, electronic form (offline, online) or any other reproductions of similar nature.
The corresponding author signs for and accepts responsibility for releasing this material on behalf of any and all co-authors. This agreement is to be signed by at least one of the authors who have obtained the assent of the co-author(s) where applicable. After submission of this agreement signed by the corresponding author, changes of authorship or in the order of the authors listed will not be accepted.
Retained Rights/Terms and Conditions
1. Authors retain all proprietary rights in any process, procedure, or article of manufacture described in the Work.
2. Authors may reproduce or authorize others to reproduce the Work or derivative works for the authors personal use or for company use, provided that the source and the UMB copyright notice are indicated, the copies are not used in any way that implies UMB endorsement of a product or service of any employer, and the copies themselves are not offered for sale.
3. Although authors are permitted to re-use all or portions of the Work in other works, this does not include granting third-party requests for reprinting, republishing, or other types of re-use.
