Kinematik Forward dan Analisis Kesalahan Pada Kesejajaran Sumbu Join Mekanisme Paralel Rotasi Murni 3-URU
<p>In this paper we discussed the forward kinematic and constrain error of 3-URU parallel mechanism. The mechanism was composed of URU kinematic chain consisting of three parallel joint axes and two intersecting joint axes. The direction of parallel joint axis representing direction of force c...
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| Format: | Article |
| Language: | English |
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Department of Mechanical Engineering, Faculty of Engineering, Universitas Andalas
2020-04-01
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| Series: | Metal: Jurnal Sistem Mekanik dan Termal |
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| Online Access: | https://metal.ft.unand.ac.id/index.php/metal/article/view/125 |
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| author | Syamsul Huda Ilham Fahmi Mulyadi Bur |
| author_facet | Syamsul Huda Ilham Fahmi Mulyadi Bur |
| author_sort | Syamsul Huda |
| collection | DOAJ |
| description | <p>In this paper we discussed the forward kinematic and constrain error of 3-URU parallel mechanism. The mechanism was composed of URU kinematic chain consisting of three parallel joint axes and two intersecting joint axes. The direction of parallel joint axis representing direction of force constraints acting on center of platform rotation. In this research was investigated the effect of error of direction of parallel joint exes on kinematic chains to the platform orientation and position of center of platform rotation. It is also developed the formulation of forward kinematic of the mechanism. The forward kinematic was carried out by taking account geometric constraint of platform motion which is derived analytically by using software Maple 16. On the other hand, the constraint error was evaluated using the CAD simulation Autodesk Inventor. Based on the result, it can be summarized that error of parallel joint axes produced significant effect on error of platform motion especially for location of the center of platform rotation which is classified as uncompensated error. The formulation of forward kinematic was successfully derived which is confirmed with inverse kinematic and CAD simulation. </p> |
| format | Article |
| id | doaj-art-c8d5244b6f3b4416b36e8e3a1c7cc29c |
| institution | Kabale University |
| issn | 2598-1137 2597-4483 |
| language | English |
| publishDate | 2020-04-01 |
| publisher | Department of Mechanical Engineering, Faculty of Engineering, Universitas Andalas |
| record_format | Article |
| series | Metal: Jurnal Sistem Mekanik dan Termal |
| spelling | doaj-art-c8d5244b6f3b4416b36e8e3a1c7cc29c2025-02-01T10:20:39ZengDepartment of Mechanical Engineering, Faculty of Engineering, Universitas AndalasMetal: Jurnal Sistem Mekanik dan Termal2598-11372597-44832020-04-0141334610.25077/metal.4.1.33-46.202072Kinematik Forward dan Analisis Kesalahan Pada Kesejajaran Sumbu Join Mekanisme Paralel Rotasi Murni 3-URUSyamsul Huda0Ilham Fahmi1Mulyadi Bur2Jurusan Teknik Mesin, Universitas Andalas, PadangJurusan Teknik Mesin, Universitas Andalas, PadangJurusan Teknik Mesin, Universitas Andalas, Padang<p>In this paper we discussed the forward kinematic and constrain error of 3-URU parallel mechanism. The mechanism was composed of URU kinematic chain consisting of three parallel joint axes and two intersecting joint axes. The direction of parallel joint axis representing direction of force constraints acting on center of platform rotation. In this research was investigated the effect of error of direction of parallel joint exes on kinematic chains to the platform orientation and position of center of platform rotation. It is also developed the formulation of forward kinematic of the mechanism. The forward kinematic was carried out by taking account geometric constraint of platform motion which is derived analytically by using software Maple 16. On the other hand, the constraint error was evaluated using the CAD simulation Autodesk Inventor. Based on the result, it can be summarized that error of parallel joint axes produced significant effect on error of platform motion especially for location of the center of platform rotation which is classified as uncompensated error. The formulation of forward kinematic was successfully derived which is confirmed with inverse kinematic and CAD simulation. </p>https://metal.ft.unand.ac.id/index.php/metal/article/view/125mekanisme paralelkinematik forwardanalisis kesalahanmekanisme rotasi murni |
| spellingShingle | Syamsul Huda Ilham Fahmi Mulyadi Bur Kinematik Forward dan Analisis Kesalahan Pada Kesejajaran Sumbu Join Mekanisme Paralel Rotasi Murni 3-URU Metal: Jurnal Sistem Mekanik dan Termal mekanisme paralel kinematik forward analisis kesalahan mekanisme rotasi murni |
| title | Kinematik Forward dan Analisis Kesalahan Pada Kesejajaran Sumbu Join Mekanisme Paralel Rotasi Murni 3-URU |
| title_full | Kinematik Forward dan Analisis Kesalahan Pada Kesejajaran Sumbu Join Mekanisme Paralel Rotasi Murni 3-URU |
| title_fullStr | Kinematik Forward dan Analisis Kesalahan Pada Kesejajaran Sumbu Join Mekanisme Paralel Rotasi Murni 3-URU |
| title_full_unstemmed | Kinematik Forward dan Analisis Kesalahan Pada Kesejajaran Sumbu Join Mekanisme Paralel Rotasi Murni 3-URU |
| title_short | Kinematik Forward dan Analisis Kesalahan Pada Kesejajaran Sumbu Join Mekanisme Paralel Rotasi Murni 3-URU |
| title_sort | kinematik forward dan analisis kesalahan pada kesejajaran sumbu join mekanisme paralel rotasi murni 3 uru |
| topic | mekanisme paralel kinematik forward analisis kesalahan mekanisme rotasi murni |
| url | https://metal.ft.unand.ac.id/index.php/metal/article/view/125 |
| work_keys_str_mv | AT syamsulhuda kinematikforwarddananalisiskesalahanpadakesejajaransumbujoinmekanismeparalelrotasimurni3uru AT ilhamfahmi kinematikforwarddananalisiskesalahanpadakesejajaransumbujoinmekanismeparalelrotasimurni3uru AT mulyadibur kinematikforwarddananalisiskesalahanpadakesejajaransumbujoinmekanismeparalelrotasimurni3uru |