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Anggit Murdani
Politeknik Negeri Malang
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Desain dan pemodelan kontrol kinematik pergerakan robot beroda dengan menggunakan 6 roda omni-wheels Indrazno Siradjuddin; Gilang Al Azhar; Anggit Murdani; Mukhamad Luqman Muttaqin Faizin
JURNAL ELTEK Vol 18 No 1 (2020): ELTEK Vol 18 No 1
Publisher : Politeknik Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1145.939 KB) | DOI: 10.33795/eltek.v18i1.226

Abstract

Pengembangan desain kontrol kinematic sangatlah penting dalam pengembangan kontrol untuk robot beroda. Hal ini sangat dibutuhkan mengingat bahwa robot beroda memiliki banyak parameter yang mampu merubah persamaan kontrol kinematiknya terutama pada kontrol kinematik untuk robot beroda dengan jenis roda omnidirectional, baik dari segi jenis roda yang digunakan hingga jumlah roda penggerak yang digunakan. Dengan berbagai macam hal yang dapat merubah persamaan kontrol kinematiknya, maka pada makalah ini dibuat sebuah persamaan kontrol kinematik yang general, yang dapat diaplikasikan untuk berbagai macam roda omnidirectional, serta berbagai jumlah roda yang digunakan. Selain itu persamaan general yang telah dibuat, diaplikasikan untuk menguji respon robot beroda dengan menggunakan 6 buah omni-wheels untuk menguji hasil respon dari persamaan general kontrol yang telah dibuat. Pengujian dilakukan dengan menggunakan simulasi program dengan menggunakan pemrograman dengan menggunakan Bahasa pemrograman python. Hasil yang didapatkan menunjukkan robot mampu bergerak sesuai dengan arah gerak target yang ditentukan, yaitu membentuk pola jalur yang linier serta mampu bergerak membentuk pola lingkaran dan pola setengah gelombang sinus. Hal ini menunjukkan bahwa kontrol kinematik yang dirancang mampu membuat robot bergerak sesuai dengan yang direncanakan. Hasil dari respon robot berupa sinyal kontrol, pola yang dibentuk serta nilai perubahan error disajikan dalam bentuk grafik. Development of the kinematics control is very important for the development of kinematics control for mobile robots. This is very necessary because mobile robots have a lot of factors that can manipulate the equation of its kinematic control, such as the type of wheels, the number of wheels, etc. With this kind of problem, it necessary to generate a general equation for the robot’s kinematic control, which in this journal we purpose the general equation for the mobile robot control, and we evaluate the outcome by applying the general equation into the 6 omnidirectional robot control. To make a valid statement, we simulate the control to understanding the control outcome by using a python program. The results of the simulation show us that the robot can move as planned, that the robot produces a linear trajectory, circular trajectory, and half sine wave trajectory. Depends on the results, it can be concluded that the proposed kinematics control equation can make the robot moves well as we planned. The results of the respons, the trajectory, and the changes in error values ​​are presented in graphical form
Desain dan Pemasangan Pergola Rambatan Tanaman Menjalar sebagai Ikon Perumahan Syamsul Hadi; Bambang Irawan; Purwoko Purwoko; Haris Puspito Buwono; Anggit Murdani
JURNAL PENGABDIAN KEPADA MASYARAKAT Vol 11, No 2 (2021): Desember 2021
Publisher : LPPM UNINUS

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30999/jpkm.v11i2.1269

Abstract

The problems faced are the lack of beauty and obstructed views at the mouth of the road where there is a narrow brick gate access and the difficulty of installing decorations during the commemoration of the Independence Day of the Republic of Indonesia. The purpose of community service is to improve the beauty of the environment and ease when installing decorations of August and wider entry-exit access points. The method applied is consultation with residents to determine the design of the pergola from rectangular pipe construction that can be propagated by vascular plant such as grapes/passion fruit/betel, making pergola, and demolishing gates, installing a construction frame with cast-concrete foundation legs so that they are sturdy and not corroded, assessing the robustness and beauty of the placement, and submitting it to the Head of the neighborhood Association. The results obtained are in the form of wider access roads for 2 sedans passing each other, the driver's view is not blocked, the beauty is increased, and the installation of the decoration can be easier. The installation of a pergola can have the implication of making traffic flow smoother and residents must be more careful, especially children who cross the road in front of their houses with the conclusion that pergola vascular plant can be used as a housing icon, resulting in a synergy between the State Polytechnic Malang and residents who are satisfied with the assistance and beauty of the environment in the RT 03-RW 06 Tasikmadu, Lowokwaru, Malang city.
Experimental investigation on strain behavior of jute/polyester composite with an open hole under axial loading Anggit Murdani; Utsman Syah Amrullah; R.N. Akhsanu Takwim
Jurnal POLIMESIN Vol 21, No 3 (2023): June
Publisher : Politeknik Negeri Lhokseumawe

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30811/jpl.v21i3.3931

Abstract

Mechanical assembly requires joint mechanism involving fasteners and holes. Deformation of the holes will greatly affect the integrity of the mechanical joins. This research objective is to reveal the strain behavior of jute/polyester composite containing open hole under axial loading. It is very important to know the behavior of the strain surrounding the hole under loading. Experiments were carried out by preparing jute/polyester composites. The composites were manufactured by using a vacuum infusion method. There are two configurations of the number of laminations, i.e., 3 and 5 sheets and of hole sizes, i.e., 5 and 10mm holes. An axial load is applied to the specimen through a tensile test. Strain gauges are attached near the holes, axially and laterally. Strain in axial and lateral directions in the vicinity of a hole is recorded and presented. The research result shows that the strain gauges located parallel to the loading axis indicate a positivestrain value. On the other hand, the strain gauges located lateral to the loading axis indicate a negative value. Furthermore, the strain gauges located beside the hole in the direction parallel to the loading axis indicate the highest strain value in all types of specimens.
RANCANG BANGUN DAN PEMBUATAN MESIN PEMBENGKOK PIPA BAGI JAMAAH MASJID NURUL ISLAM PERUM GRIYA SAMPURNA DESA AMPELDENTO KEC. KARANGPLOSO KAB. MALANG Udianto, Pondi; Hartono, Moh.; Wahyudi, Bagus; Murdani, Anggit; Hadi, Samsul
INFO-TEKNIK Vol 24, No 2 (2023): INFOTEKNIK VOL. 24 NO. 2 DESEMBER 2023
Publisher : Universitas Lambung Mangkurat

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.20527/infotek.v24i2.17996

Abstract

Mesin pembengkok pipa merupakan alat yang digunakan untuk mengerol pipa, apakah pipa silindris atau pipa kotak dengan menggunakan penggerak utama motor listrik. Alat ini sangat diperlukan dalam proses pembuatan pagar atau rangka kanopi yang terbuat dari bahan logam agar proses pembengkokkan bisa lebih cepat dan diperoleh hasil yang baik. Prinsip kerja dari alat ini adalah pipa yang akan dibengkokkan ditekan oleh poros penggerak utama yang berputar, sedangkan dua poros yang lain menahannya. Karena poros utama bergerak bolak balik maka semakin lama pipa akan membengkok. Tahapan dalam proses pembuatan meliputi perancangan (desain), pemilihan bahan dan pembuatan. Perancangan dilakukan agar diperoleh desain alat yang sesuai dengan kebutuhan. Pemilihan bahan dilakukan untuk menentukan bahan-bahan yang digunakan dengan mengutamakan fungsi dan nilai ekonomis dari sisi harga. Untuk bahan rangka dipilih besi profil U, sedangkan untuk bantalan poros dipilih bantalan yang sudah ada di pasaran. Alat-alat utama yang digunakan dalam proses pembuatan yaitu mesin las listrik, gerinda potong dan peralatan keselamatan kerja dalam proses pengelasan. Dari pembuatan yang dilakukan dihasilkan alat/mesin pembengkok pipa dengan penggerak utama motor listrik yang dapat digunakan untuk membengkokkan pipa diameter 1 inci dengan ketebalan 1,2 mm. Key words: pembengkok, pipa, poros utama
Optimizing injection molding parameters to minimize and prediction potential for flashing defects Ismoyo, Ramadhan Araya; Hartono, Moh.; Murdani, Anggit
Jurnal Polimesin Vol 22, No 2 (2024): April
Publisher : Politeknik Negeri Lhokseumawe

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30811/jpl.v22i2.4576

Abstract

The injection molding process is a manufacturing process that can produce products in a short time in large quantities, in the injection molding process the factor of setting process parameters plays a significant role in product quality, so it requires special treatment. The purpose of this study is to find the optimal parameters in the injection moulding process of yogurth container lid with polypropylene material, so that the process can reduce the incidence of flashing defects that result in the emergence of initial waste in the industrial environment. The method used in this research is to create a Response Surface Methodology Box-Behnken Design (RSM - BBD) optimization model and an Artificial Neural Network (ANN) model approach in analyzing optimal parameters and predicting the appearance of flashing defects in a designed cycle. The results obtained from this research are the optimal parameters from the RSM and ANN model recommendations, namely the clamping force setting of 70 tons, holding time 0.1 seconds, and holding pressure. The ANN model provides the highest level of prediction accuracy with an R2 value of 100% and a prediction error rate of 7.9689E-09. In comparison, the RSM model obtains a prediction accuracy level with an R2 of 71% with an error rate of 0.24315.
Bimbingan Teknis Wirausaha Coran Aluminium Bekas untuk Spesimen Uji Tarik Hadi, Syamsul; Gumono, Gumono; Murdani, Anggit; Hakim, Arif Rahman; Udianto, Pondi
JURNAL PENGABDIAN KEPADA MASYARAKAT Vol 15 No 2 (2025): Desember 2025
Publisher : LPPM UNINUS

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30999/jpkm.v15i2.3828

Abstract

Scrap of Aluminium is not always could be used as a raw material in casting of tensile test specimen, it’s because of shrinkage problem to the mould. The objective of casting trial is to find out the suitable raw material shrinkage of Aluminium casting. The method of the casting trial is to design and manufacture of casting moulds according to the standard of specimen dimension of ASTM E8/E8M-08 for rectangular cross section of gauge length, selection of Aluminium scrap, trial of Aluminium casting, evaluation of tensile test specimen, moulds modification, and evaluation of cast results. The result of casting trial of tensile test specimen was shown that the failure specimen if used Aluminium scrap of 7.99% shrinkage (>6%) and succeed specimen if used Aluminium scrap of 5.71 and 5.32% shrinkages (<6%) which is ready for finishing of the gauge length.
The Effect of Composition and Type of Metal Filler on Heat Resistance of Silica Rubber Matric Composites R.N. Akhsanu Takwim; Anggit Murdani; Purwoko; Bayu Pranoto; Naufal Reza Putra
Logic : Jurnal Rancang Bangun dan Teknologi Vol. 23 No. 3 (2023): November
Publisher : Unit Publikasi Ilmiah, P3M, Politeknik Negeri Bali

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31940/logic.v23i3.169-174

Abstract

Thermal Tensioning is one of the methods use to minimise the occurrence of residual stress and unwanted distorsion during welding. One of the thermal tensioning methods is Static Thermal Tensioning (STT), which involves countering thermal stress during welding. The STT method requires an active cooling behind the welding line. Several properties are required for the coolant material, such as thermal conductivity, heat resistance, and good flexibility. To achieve the desired properties, a mixture of different materials was used, commonly called a composite. The purpose of this study is to know the effect of filler metal composition and type on the heat resistance of silica rubber matric composites. This study used 2 independent variables: the filler composition in composites with variations of K1 (60%) and K2 (70%), and the type of filler metal, aluminium and copper powder with variation J1 (100%-0%), J2 (75%-25%), J3 (50%-50%), J4 (25%-75%), and J5 (0-100%). The testing process used Thermogravimetry Analysis (TGA) method with replication 2 times. The results of this study showed the specimens with K1;J1 composition,containing 60% pure aluminium filler metal, showed the best heat resistance with a final weight of 88,25%. While specimens with K2;J5 composition, containing 70% pure copper filler metal, showed the worst heat resistance with a final weight of 74,25%.
DESAIN DAN PEMBUATAN TULISAN IDENTITAS GEDUNG BERHURUF 3 DIMENSI DARI STAINLESS STEEL Syamsul Hadi; Mochamad Muzaki; Bambang Irawan; Purwoko Purwoko; Haris Puspito Buwono; Anggit Murdani
Jurnal Pengabdian kepada Masyarakat Vol. 11 No. 1 (2024): JURNAL PENGABDIAN KEPADA MASYARAKAT 2024
Publisher : P3M Politeknik Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33795/abdimas.v11i1.5254

Abstract

This community service aims to increase clarity and beauty for all guests who head to the hall in RW 06 Kelurahan Tasikmadu Malang. The method used is deliberation with residents and building managers to determine the design/technique of the construction model for the posts to be installed in the Hall, making posts from stainless steel in the form of plates (stainless steel) and installing stainless steel letters on the west side of the outer wall of the Hall, assessing the robustness and the beauty of the placement, and submission to the Head of RW 06 where the installation of the writing is in his working area. By installing stainless steel letters in the Hall, it is hoped that identity can be made clear to all guests or all parties who pass in front of it. Thus there is a synergy between State Polytechnic of Malang and community members in obtaining satisfaction of the usefulness of assistance and the beauty of the environment in RW 06 Tasikmadu, Lowokwaru, Malang city.
DESAIN DAN PEMBUATAN PERANGKAT PELUBANG PORTABEL RUMAH ANAK KUNCI PADA KERANGKA ALUMINIUM HOLLOW Syamsul Hadi; Bambang Irawan; Purwoko Purwoko; Anggit Murdani; Fica Aida Nadhifatul Aini; Cahyo Tri Waluyo
Jurnal Pengabdian kepada Masyarakat Vol. 11 No. 2 (2024): JURNAL PENGABDIAN KEPADA MASYARAKAT 2024
Publisher : P3M Politeknik Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33795/abdimas.v11i2.6115

Abstract

Manual work using drilling machines, manual grinding, and filing in penetrating holes in the profile of the hollow Aluminum frame in the shape of the glass door lock housing is the problem faced. Community service aims to obtain a portable door lock children's home hole prototype for hollow aluminum frame profiles for glass doors. The method applied is design discussions with partners, making a hole punch frame for a portable door lock housing for an Aluminum frame profile according to the dimensions of a 3 Ton jack, making a punch in the exact shape of a particular key housing hole with an electric discharge machine (EDM) Wire Cut, hardening and tempering steel punch, making sharp side profiles for the shape of the key housing using a CNC milling machine, trial of punching the door frame profile, and handing over the portable door lock home punch tool kit to the service partner. With the completion of the manufacture of the portable door lock children's home punch tool kit as a work aid, it can be used to support the production of glass door frames ordered by the wider community with good results, a fast process, and production costs can be reduced. In this way, there is a synergy between State Polytechnic of Malang (Polinema) and community members in the production of products needed by the community more efficiently and able to meet the needs of the general community.
DESAIN DAN PEMBUATAN PERANGKAT PEMBENTUK PENGGANTUNG PAKAIAN BENTUK S BERSUDUT 90o Syamsul Hadi; Mochamad Muzaki; Purwoko Purwoko; Anggit Murdani; Fica Aida Nadhifatul Aini; Febryan Candra Shakti; M Rio Alfi Sya'bana; Radhi Nurvian Amrullah
Jurnal Pengabdian kepada Masyarakat Vol. 12 No. 2 (2025): JURNAL PENGABDIAN KEPADA MASYARAKAT 2025
Publisher : P3M Politeknik Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33795/abdimas.v12i2.9112

Abstract

The problem lies in the inconsistency of the dimensions of the 90° S-shaped clothes hanger forming device for use in research requiring bending and deflection forces using the Tarno Grocki compression testing machine. This community service project aims to develop a 90° S-shaped clothes hanger forming device whose design can be used in research requiring bending and deflection forces using the Tarno Grocki compression testing machine and cannot be used as a stand-alone device without the aid of a hydraulic jack and frame as a production tool in a home industry. The method applied is modifying the design and device so that it can function using the Tarno Grocki compression testing machine and a stand-alone device with the aid of a hydraulic jack as a production tool in a home industry, including the construction of a support table, a trial run, and the donation to partners or home industries. The results of the community service in modifying the 90o S-Shaped Clothes Hanger Forming Device can be used as a production tool by the household industry, so that there is a synergy between State Polytechnic of Malang and the community in producing clothes hangers for the community's needs more efficiently and can meet the needs of the community in general.
Co-Authors Achmad Chumaidi, Achmad Agus Hardjito Agus Sujatmiko Aji, Supa Kusuma Akhlis Rizza, Muhammad Amrullah, Radhi Nurvian Amrullah, Utsman Syah Andah Lugas Dhinata Andhika Erlangga Setiawan Putra Arif Rahman Hakim Bagus Wahyudi Bambang Irawan Bambang Irawan BAYU PRANOTO Bayu Pranoto Cahyo Tri Waluyo Dharsono, Ekky Yovianto Dwi Romdhoni Febryan Candra Shakti Fica Aida Nadhifatul Aini Gilang Al Azhar Gumono Gumono, Gumono Hangga Wicaksono Haris Puspito Buwono Heryanto Heryanto Indrazno Siradjuddin Ismoyo, Ramadhan Araya Khaerudin, Dian Noorvy Kusumo, Achmad Sabilarrosyad Prawiro M Rio Alfi Sya'bana Maskuri Maskuri Mira Mira Mochamad Muzaki Mochammad Habibi Moh Hartono Monasari, Ratna Muhammad Nouval Eka Saputra Muhammad Raihan Abdillah Mukhamad Luqman Muttaqin Faizin Naufal Reza Putra Nila Alia Pondi Udianto Purwoko Purwoko Purwoko Purwoko R N Akhsanu Takwim Radhi Nurvian Amrullah Radiansyah Giga Suhartono Rio Asyahdiky Al Faiz Sadar Wahjudi Samsul Hadi Santoso Santoso Satworo Adiwidodo Silvia Rahmi Ekasari Sudarmadji Sugeng Hadi Susilo Syamsul Hadi Syamsul Hadi Syamsul Hadi Sza Sya Monica Valeria Yuniarto Agus Winoko