Firdaus, Rath Kautsar (2018) Analisa Statis dan Distribusi Kekakuan Robot Paralel 3-RPS Sebagai Alat Rehabilitasi Tumit. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Proses penyembuhan atau rehabilitasi cedera tumit selama ini biasa dilakukan dengan cara tradisional. Namun tidak semua pasien dapat menerima rehabilitasi tradisional dikarenakan terapis hanya bisa melayani satu pasien secara bergantian dimana prosesnya diulang terus menerus sehingga membutuhkan jumlah tenaga yang sama dalam waktu yang lama. Efektifitas pelatihan juga sangat tergantung pada keahlian terapis. Robot paralel 3-RPS merupakan sebuah mekanisme robot yang mempunyai tiga derajat kebebasan dan masing-masing kakinya tersusun dari revolute joint, prismatic joint, dan spherical joint. Mekanisme tersebut kemudian dikembangkan dalam tugas akhir ini menjadi alat rehabilitasi tumit. Penelitian kali ini bertujuan untuk mengetahui kondisi kesetimbangan dari konfigurasi robot paralel 3-RPS berdasarkan gaya dan momen virtual pada mekanisme. Selain itu, penelitian ini bertujuan untuk mengetahui pengaruh parameter desain terhadap distribusi kekakuan pada robot paralel 3-RPS sebagai alat rehabilitasi tumit.
Dalam melakukan analisa, dimulai dengan pemodelan kinematika maupun letak koordinat pada satu kaki robot untuk menentukan gaya dan momen constraint serta gaya dan momen aktuasi dalam bentuk twist dan wrench pada masing-masing joint. Gaya dan momen tersebut kemudian dirumuskan menjadi matriks Jacobian yang selanjutnya digunakan untuk menganalisa kesetimbangan statis maupun kekakuan. Matriks Jacobian dirumuskan menjadi matriks Kekakuan dan disimulasikan menggunakan perangkat lunak MATLAB sehingga didapatkan grafik yang menjelaskan hubungan antara nilai kekakuan terhadap variasi parameter desain.
Hasil yang didapatkan adalah masing-masing kaki pada struktur robot paralel 3-RPS mempunyai satu gaya constraint dan satu gaya aktuasi. Kondisi kesetimbangan robot paralel 3-RPS direpresentasikan oleh matrik Jacobian yang didapat dengan menggabungkan semua gaya-gaya tersebut. Semakin jauh posisi kaki ketiga terhadap kaki pertama, maka kekakuan robot akan semakin rendah. Semakin besar ukuran platform, maka nilai kekakuan robot akan semakin besar. Untuk mendapatkan nilai kekakuan yang tinggi, posisi kaki kedua dapat divariasikan dan bergantung pada arah wrench yang diterapkan pada platform
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Healing process or rehabilitation of ankle injuries during this time is usually done in the traditional way. However, not all patients can receive traditional rehabilitation because the therapist can only serve one patient in turn where the process is repeated continuously so that it takes the same amount of energy for a long time. The effectiveness of the training is also highly dependent on the therapist's expertise. The 3-RPS parallel robot is a robotic mechanism that has three degrees of freedom and each leg is composed of a revolute joint, prismatic joint, and spherical joint. The mechanism is then developed in this final task to be an ankle rehabilitation device. This study aims to determine the equilibrium condition of the 3-RPS parallel robot configuration based on the virtual force and moment on the mechanism. In addition, this study aims to determine the effect of design parameters on stiffness distribution in 3-RPS parallel robot as an ankle rehabilitation device.
In the analysis, starting with kinematics modeling and the location of the coordinates on one robot leg to determine the force and moment of the constraint and the force and moment of the actuation in the form of twist and wrench on each joint. Then the forces and moments are formulated into Jacobian matrices which are then used to analyze the static equilibrium and stiffness. The Jacobian matrix is formulated into a Stiffness matrix and simulated using MATLAB program to obtain a graph which explains the relationship between the stiffness distribution to variations in design parameters.
The results obtained are that each leg in a 3-RPS parallel robot structure has one constraint force and one actuation force. By combining all of these forces, a Jacobian matrix formulation representing the 3-RPS parallel equilibrium condition is obtained. The farther the third leg position against the first leg, then the robot stiffness will be lower. The larger the size of the platform, then the robot stiffness will be greater. To get a large stiffness value, the position of the second leg can be varied and depends on the direction of wrench applied to the platform
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSM 629.892 Fir a-1 3100018076828 |
| Uncontrolled Keywords: | rehabilitasi, tumit, 3-RPS, kekakuan, statis, Jacobian, constraint, wrench |
| Subjects: | T Technology > TA Engineering (General). Civil engineering (General) > TA174 Computer-aided design. T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. |
| Divisions: | Faculty of Industrial Technology > Mechanical Engineering > 21201-(S1) Undergraduate Thesis |
| Depositing User: | Rath Kautsar Firdaus |
| Date Deposited: | 10 Dec 2020 08:00 |
| Last Modified: | 10 Dec 2020 08:00 |
| URI: | http://repository.its.ac.id/id/eprint/55836 |
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