Graphical User Interface untuk Analisa Kinematika Mekanisme 5-batang pada Automatic Catwalk

Rahman, Muhammad Taufik Ali (2019) Graphical User Interface untuk Analisa Kinematika Mekanisme 5-batang pada Automatic Catwalk. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Automatic catwalk pada industri pengeboran diharapkan menjadi salah satu solusi untuk mengurangi resiko kecelakaan. Alat ini mengurangi interaksi manusia dengan tubular (pipa) selama proses pickup dan laydown. Penelitian ini dilakukan dengan tujuan untuk mengetahui kinematic behaviour dari mekanisme automatic catwalk tersebut. Untuk mengetahui kinematic behaviour dari mekanisme, dilakukan analisa kinematika yang meliputi analisa direct kinematic dan analisa singularity. GUI (Graphical User Interface) dibuat bertujuan untuk mempermudah proses analisa kinematika dan perencanaan automatic catwalk. Desain mekanisme automatic catwalk berdasarkan pada mekanisme 5-Batang tipe RRRPR. Penelitian diawali dengan mendefinisikan skema aktuasi. Terdapat 2 skema aktuasi, yaitu: (1) kombinasi revolute + prismatik, dan (2) kombinasi revolute + revolute. Skema aktuasi ini didefinisikan untuk mengetahui pengaruh dari penempatan aktuator. Selanjutnya, penurunan persamaan posisi dilakukan untuk mendapatkan solusi direct kinematic. Workspace dari mekanisme dapat diketahui dengan memplot persamaan direct kinematic ini. Selain mencari solusi direct kinematic, penurunan persamaan posisi dilakukan untuk mendapatkan persamaan kecepatan. Dari persamaan kecepatan, dihasilkan matriks jacobian yang digunakan untuk memplot kurva singularity. Hasil analisa kinematik disajikan dalam GUI. Pemrograman GUI dilakukan pada software MATLAB. Tugas akhir ini menghasilkan GUI untuk analisa kinematika. Hasil analisa kinematika berupa pose direct kinematic, workspace, serta kurva singularity. Hasil analisa kinematika merupakan fungsi dari desain parameter (panjang link), skema aktuasi dan joint limit. Dari GUI yang dihasilkan, pengguna dapat menganalisa dengan mudah pengaruh desain parameter, skema aktuasi dan joint limit, terhadap kinematic behaviour yang meliputi workspace dan singularity. ================================================================================================ Automatic catwalks in the drilling industry are expected to be one solution of reducing the accidents. It reduces human and tubular (pipe) interactions during the pickup and laydown processes. This research was conducted with the aim of knowing kinematic behavior of the automatic catwalk mechanism. To find out the kinematic behavior of the mechanism, kinematics analysis is carried out which includes direct kinematic analysis and singularity analysis. The GUI (Graphical User Interface) was made aiming to simplify the process of kinematics analysis and automatic catwalk planning. The design of the automatic catwalk mechanism is based on the RRRPR type five-bar mechanism. The research begins by defining the actuation scheme. There are 2 actuation schemes: (1) revolute + prismatic combinations, and (2) revolute + revolute combinations. This actuation scheme is defined to determine the effect of the actuator placement. A formulation of the position equation to obtain a direct kinematic solution. The workspace of the mechanism can be known by plotting the direct kinematic equation. In addition, a derivation of the position equation to get the velocity equation. From the velocity equation, a jacobian matrix is used to plot the singularity curve. The results of kinematic analysis are presented in the GUI. This final project produces a GUI for kinematics analysis. Kinematics analysis results in the form of direct kinematic poses, workspaces, and singularity curves. The results of kinematics analysis are a function of parameter design (link length), actuation scheme and joint limit. From the GUI, users can easily analyze the effect of parameter design, actuation schemes and joint limits, on kinematic behavior which includes workspace and singularity.

Item Type: Thesis (Undergraduate)
Additional Information: RSM 621.811 Rah g-1 2019
Uncontrolled Keywords: five-bar mechanism, graphical user interface, kinematics, singularity, workspace.
Subjects: Q Science > QA Mathematics > QA76.9.U83 Graphical user interfaces. User interfaces (Computer systems)--Design.
T Technology > TJ Mechanical engineering and machinery > TJ211.4 Robot motion
T Technology > TJ Mechanical engineering and machinery > TJ230 Machine design
T Technology > TJ Mechanical engineering and machinery > TJ950 Pneumatic machinery
Divisions: Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User: muhammad taufik ali rahman
Date Deposited: 25 Jan 2022 02:27
Last Modified: 25 Jan 2022 02:27
URI: https://repository.its.ac.id/id/eprint/61676

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