Formulation of a New Index for the Evaluation of Mechanism Workspace

Reinaldo, Christopher (2024) Formulation of a New Index for the Evaluation of Mechanism Workspace. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Ruang kerja suatu mekanisme didefinisikan sebagai wilayah yang dapat dijangkau oleh efektor akhirnya. Ketika mekanisme robotik baru dilaporkan, studi tentang ruang kerja yang dapat dijangkau disertakan dalam analisis teoretisnya. Beberapa penelitian mengusulkan indeks untuk mengevaluasi kinerja suatu mekanisme dengan indeks seperti jumlah kondisi atau indeks transmisi, keduanya berfokus pada kinerja dalam ruang kerja. Ruang kerja itu sendiri sulit untuk direpresentasikan untuk mekanisme dengan lebih dari 3 DoF. Penelitian kali ini terutama berfokus pada ruang kerja itu sendiri dan bagaimana perkembangannya. Indeks Evolusi Ruang Kerja (WEI) baru telah dirumuskan. Indeks ini dapat menunjukkan bagaimana ruang kerja linier berkembang di ruang kerja sudut atau sebaliknya. WEI ditentukan dengan dua metode: indeks berbasis rata-rata dan indeks berbasis norma. Indeks berbasis rata-rata menunjukkan bahwa dengan berpindah dari koordinat tertentu suatu mekanisme akan mendapatkan atau kehilangan ruang kerja rata-rata. Indeks berbasis norma akan menunjukkan variasi ruang kerja pada koordinat tertentu. Mekanisme planar tiga derajat kebebasan (DoF), 3 RRR dan 3-RPR diselidiki dan hasilnya dibandingkan menggunakan WEI, dan kombinasi WEI dan Conditioning Number. Investigasi lebih lanjut kemudian dilakukan terhadap tiga mekanisme spasial Departemen Keuangan: mekanisme 3-RPS dan 3-PSP, serta enam mekanisme spasial Departemen Keuangan: 3-PRP-3-RPS dan 3-RPS-3-PRP
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The workspace of a mechanism is defined as the region in which its end effector can reach. When a novel robotic mechanism is reported, the study on the workspace it can reach is included in its theoretical analysis. Several studies proposed indexes to evaluate the performance of a mechanism with indexes such as the condition number or transmission index, both of them focused on the performance within the workspace. The workspace itself is difficult to represent for mechanism with more than 3 DoF. This present study mainly focuses on the workspace itself on how it evolves. A new Workspace Evolution Index (WEI) is formulated. This index can indicate either how the linear workspace evolves in the angular workspace or vis versa. The WEI is determined by two methods: the mean-based index and the norm-based index. The mean based index indicates that by moving from a certain coordinate a mechanism will in average gain or lose workspace. The norm-based index will show the variation of the workspace at a certain coordinate. Three degrees of freedom (DoF) planar mechanisms, 3 RRR and 3-RPR are investigated and the results are compared using the WEI, and combinations of WEI and Conditioning Number. Further investigations are then carried out to three DoF spatial mechanisms: 3-RPS and 3-PSP mechanism, and the six-DoF spatial mechanisms: 3-PRP-3-RPS and 3-RPS-3-PRP

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	Mekanisme paralel, mekanisme planar, mekanisme tripod, Ruang Kerja; Parallel mechanism, planar mechanism, tripod mechanism, Workspace
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21101-(S2) Master Thesis
Depositing User:	Christopher Reinaldo
Date Deposited:	16 Feb 2024 06:51
Last Modified:	29 Feb 2024 01:13
URI:	http://repository.its.ac.id/id/eprint/107321

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