Analisis Kinematika dan Dinamika Eksoskeleton Ekstrimitas Bawah

Siregar, Evany Divitri Lestari (2024) Analisis Kinematika dan Dinamika Eksoskeleton Ekstrimitas Bawah. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Setiap tahunnya kebutuhan eksoskeleton meningkat, baik dalam keperluan rehabilitasi maupun load carrying eksoskeleton. Pengembangannya masih terbatas khususnya di Indonesia sehingga diperlukan inovasi dalam hal alat rehabilitasi tersebut. Analisis kinematika dan dinamika diperlukan untuk mendesain sistem atau model. Pengembangan desain dan pemodelan eksoskeleton untuk keperluan rehabilitasi medis dilakukan. Pada penelitian ini, simulasi model eksoskeleton dilakukan untuk memperoleh range of motion dan besar torsi yang diperlukan oleh motor untuk menggerakkan masing-masing joint. Parameter Denavit-Hartenberg digunakan dalam analisis kinematika terbalik model dan dilanjutkan dengan analisis dinamika model menggunakan 3D Modelling pada Simscape Multibody. Analisis kinematika mendefinisikan variabel posisi serta analisis dinamika gaya aktuasi aktuator. Range of motion yang diperoleh untuk masing-masing joint ialah -6,635° hingga 36,639° untuk knee joint, -3,747° hingga 23,016° untuk ankle joint, dan -4,048° hingga 23,766° untuk hip joint. Siklus gerakan berjalan model adalah 3,0646 detik dengan 24,94% swing phase dan 75,06% stance phase. Torsi yang diperlukan masing-masing joint: ankle joint 12,7081 Nm, knee joint 28,2799 Nm, dan hip joint sebesar 36,3764 Nm.
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The need for exoskeletons is increasing year by year, both for rehabilitation purposes and for weight-bearing exoskeletons. Development is still limited, especially in Indonesia, so innovation is needed in these rehabilitation tools. Kinematics and dynamics analysis are needed to design a system or model. The development of exoskeleton design and modelling for medical rehabilitation purposes is carried out. In this study, simulation of the exoskeleton model was carried out to obtain the range of motion and the amount of torque required by the motor to move each joint. The Denavit-Hartenberg parameters were used in the inverse kinematics analysis of the model and continued with the model dynamics analysis using 3D modelling on Simscape Multibody. The kinematics analysis defines the position variables as well as the actuator force dynamics analysis. The range of motion obtained for each joint was -6.635° to 36.639° for the knee joint, -3.747° to 23.016° for the ankle joint and -4.048° to 23.766° for the hip joint. The gait cycle of the model was 3.0646 seconds with 24.94% swing phase and 75.06% stance phase. The torque required for each joint was 12.7081 Nm for the ankle, 28.2799 Nm for the knee and 36.3764 Nm for the hip.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	denavit-hartenberg, dynamics, exoskeleton, kinematics, lower extrimity, dinamika, eksoskeleton, ekstremitas bawah, kinematika.
Subjects:	T Technology > TJ Mechanical engineering and machinery
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	Evany Divitri Lestari Siregar
Date Deposited:	13 Feb 2024 04:24
Last Modified:	13 Feb 2024 04:24
URI:	http://repository.its.ac.id/id/eprint/107080

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