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All Journal AUSTENIT Mechatronics, Electrical Power, and Vehicular Technology Jurnal INKOM Turbo : Jurnal Program Studi Teknik Mesin Turbulen : Jurnal Teknik Mesin Teknologi Indonesia
Hendri Maja Saputra
Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Komp. LIPI Bandung, Jl. Sangkuriang, Gd. 20. Lt. 2, Bandung 40135
Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Analysis of Inverse Angle Method for Controlling Two Degree of Freedom Manipulator Saputra, Hendri Maja; Abidin, Zainal; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 3, No 1 (2012)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1184.577 KB) | DOI: 10.14203/j.mev.2012.v3.9-16

Abstract

Driver mechanism with two degree of freedom (MP 2-DK) is a robotic device that can be used for various applications such as turret drive system, gutling gun, launcher, radar antennas, and communications satellite antennas. The precision and the speed of a MP 2-DK are determined by its control system. The calculation inverse angle due to interference in six degree of freedom is necessary to control a MP 2 DK. This paper analyses three calculation methods of inverse angle which are iteration method using Jacobian matrix, reduction of matrix equations using positioning geometry, and an analytical derivation using a rotation matrix. The simulation results of the three methods showed that the first and the third methods could visually demonstrate three rotational disturbances, whereas the second method could only demonstrate the pitch and yaw (PY) disturbances. The third method required less processing time than the first and the second methods. The best method based on this research was the method of rotation matrix.
Rancang Bangun Sistem Kendali Motor Stepper Printer Canon BJC-S200SPx untuk Prototipe Lengan Robot 5-DOF (Majabot) Saputra, Hendri Maja
INKOM Journal Vol 4, No 1 (2010)
Publisher : Pusat Penelitian Informatika - LIPI

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (411.213 KB) | DOI: 10.14203/j.inkom.65

Abstract

Designing and building of motor stepper control system from unused printer Canon BJC-S200SPx of robot arm prototype with five degree of freedom (5-DOF) has been developed. That printer type is used because if trouble occur it is not only very difficult but also expensive to be repaired, so it is sold very cheap or misspent. Robot arm has 5 revolution joints, wherein each joint is limited by one degree of freedom to make the manipulator control systems and mechanics work easier. To control the systems device, it needs driver (control circuit) with data input in the form of computer command using programming software, with parallel port communicated in order to generate motor stepper pulses. The experiment results showed that low-precisian of robot arm movement occur cumulatively, although hardware and software control systems had been designed optimally.
Three axis deviation analysis of CNC milling machine Subagio, Dalmasius Ganjar; Subekti, Ridwan Arief; Saputra, Hendri Maja; Rajani, Ahmad; Sanjaya, Kadek Heri
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 10, No 2 (2019)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (3373.202 KB) | DOI: 10.14203/j.mev.2019.v10.93-101

Abstract

The manufacturing technology has developed rapidly, especially those intended to improve the precision. Consequently, increasing precision requires greater technical capabilities in the field of measurement. A prototype of a 3-axis CNC milling machine has been designed and developed in the Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences (RCEPM-LIPI). The CNC milling machine is driven by a 0.4 kW servo motor with a spindle rotation of 12,000 rpm. This study aims to measure the precision of the CNC milling machine by carrying out the measurement process. It is expected that the CNC milling machine will be able toperform in an optimum precision during the manufacturing process. Accuracy level testing is done by measuring the deviations on the three axes namely X-axis, Y-axis, and Z-axis, as well as the flatness using a dial indicator and parallel plates. The measurement results show the deviation on the X-axis by 0.033 mm, the Y-axis by 0.102 mm, the Z-axis by 0.063 mm, and the flatness of the table by 0.096 mm, respectively. It is confirmed that the deviation value is within the tolerance standard limits set by ISO 2768 standard. However, the calibration is required for this CNC milling machine to achieve more accurate precision. Furthermore, the design improvement of CNC milling machine and the application of information technology in accordance with Industry 4.0 concept will enhance the precision and realibility.
ANALISIS SUBSISTEM RAMP UNTUK MENAIKI TANGGA PADA MOBIL ROBOT LIPI VERSI 1 (MOROLIPI V1) Saputra, Hendri Maja
AUSTENIT Vol. 12 No. 1 (2020): AUSTENIT 12012020
Publisher : Politeknik Negeri Sriwijaya, Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5281/zenodo.4547822

Abstract

Paper ini membahas secara rinci analisis sistem menaiki tangga (ramp) pada prototipe mobil robot penjinak bom versi 1 (morolipi v1). Analisis perlu dilakukan agar secara ilmiah dapat dibuktikan bahwa robot berfungsi sesuai dengan yang didesain. Analisis menggunakan pendekatan kinematika klasik untuk mendapatkan gaya dan momen yang bekerja pada mekanisme penggerak saat menaiki tangga. Berdasarkan analisis melalui simulasi dan eksperimen yang dilakukan maka dapat disimpulkan bahwa desain mobil robot dapat terbukti dapat bekerja dengan baik untuk ramp mobil robot menaiki tangga dengan kemiringan maksimal 42 derajat. Momen paling besar ketika menaiki tangga di sudut kemiringan 30 derajat dengan koefisien gesek 0,9. 
Three-axis flexible tube sensor with LSTM-based force prediction for alignment of electric vehicle charging ports Saputra, Hendri Maja; Pahrurrozi, Ahmad; Baskoro, Catur Hilman Adritya Haryo Bhakti; Nor, Nur Safwati Mohd; Ismail, Nanang; Rijanto, Estiko; Yazid, Edwar; Zain, Mohd Zarhamdy Md; Darus, Intan Zaurah Mat
Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 15, No 2 (2024)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55981/j.mev.2024.1104

Abstract

This paper introduces a novel three-axis flexible tube sensor designed for force measurement in electric vehicle (EV) charging port alignment, utilizing long short-term memory (LSTM) networks. The research aims to develop and validate a flexible and accurate sensor system capable of predicting multi-axis forces during alignment. The sensor integrates a magnetic sensor at the center of a flexible tube to capture three-dimensional (3-D) magnetic field variations corresponding to force changes. Fabricated using thermoplastic polyurethane (TPU) via 3-D printing technology, the sensor leverages machine learning to predict force values along the , , and  axes ( , , ). Finite element method (FEM) analysis was conducted to assess the deflection characteristics of the flexible tube under various force conditions. Experimental results demonstrate that integrating LSTM significantly enhances the accuracy of force prediction, achieving an R² score exceeding 97 % for all axes, with mean squared error (MSE) values of 0.2819 for the -axis, 0.3567 for the -axis, and 2.8086 for the -axis. The sensor is capable of measuring forces up to 30 N without exceeding its elastic limits. These findings highlight the sensor’s potential for improving alignment accuracy and reliability in automated EV charging systems.
Dimensional Consistency Analysis in High Speed 3D Printing Ramadhan, Doni Fajar; Sodiq, Fajar; Saputra, Hendri Maja; Putra, Mohammad Alexin
TURBO [Tulisan Riset Berbasis Online] Vol 14, No 1 (2025): TURBO : Jurnal Program Studi Teknik Mesin
Publisher : Universitas Muhammadiyah Metro

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24127/trb.v14i1.3795

Abstract

3D printing technology has been widely applied in various industries, including manufacturing, healthcare, automotive, aerospace, and others. High 3D printing speeds, such as 1200 mm/s, offer the potential to significantly accelerate the production process. However, increasing this speed also presents challenges related to the quality and dimensional consistency of the printed parts. Therefore, understanding how each parameter interacts and affects the printing results is key to optimizing high-speed 3D printing processes. This research focuses on the dimensional accuracy of 3D printed objects. The method used involves printing 5 cube samples measuring 20mm x 20mm x20 mm with a 10 mm through all hole using Acrylonitrile Butadiene Styrene (ABS) Highspeed and  Polylactic Acid (PLA) Highspeed materials at a maximum print speed of 1200 mm/s. After the printing process, the dimensions of each sample are carefully measured using a vernier caliper at three different points.  PLA material tends to have a larger deviation than ABS, especially in the circle diameter parameter with a deviation percentage of 5.88%, while ABS is 5.02%. Based on the results overall the deviation of length, width, height, and hole diameter dimensions in both materials is not significant for general applications, but the deviation in hole diameter shows a higher value than other dimensions.
ANALISIS SUBSISTEM RAMP UNTUK MENAIKI TANGGA PADA MOBIL ROBOT LIPI VERSI 1 (MOROLIPI V1) Saputra, Hendri Maja
AUSTENIT Vol. 12 No. 1 (2020): AUSTENIT: April 2020
Publisher : Politeknik Negeri Sriwijaya, Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

Paper ini membahas secara rinci analisis sistem menaiki tangga (ramp) pada prototipe mobil robot penjinak bom versi 1 (morolipi v1). Analisis perlu dilakukan agar secara ilmiah dapat dibuktikan bahwa robot berfungsi sesuai dengan yang didesain. Analisis menggunakan pendekatan kinematika klasik untuk mendapatkan gaya dan momen yang bekerja pada mekanisme penggerak saat menaiki tangga. Berdasarkan analisis melalui simulasi dan eksperimen yang dilakukan maka dapat disimpulkan bahwa desain mobil robot dapat terbukti dapat bekerja dengan baik untuk ramp mobil robot menaiki tangga dengan kemiringan maksimal 42 derajat. Momen paling besar ketika menaiki tangga di sudut kemiringan 30 derajat dengan koefisien gesek 0,9. 
KOMUNIKASI DUA ARAH MODUL PENGENDALI MOTOR ALAT TRIAXIAL DIGITAL Saputra, Hendri Maja; Saputra, Ivan Heru; A.H.B.Baskoro, Catur Hilman
AUSTENIT Vol. 13 No. 2 (2021): AUSTENIT: Oktober 2021
Publisher : Politeknik Negeri Sriwijaya, Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

This study aims to apply two-way communication module for motor controller on digital triaxial test equipment. In the triaxial digital test equipment, the speed and direction of up / down motors in the previous version is still manually controlled by pressing the push button on the control panel. In this research is done digitalize all process at control panel, so that all activity of control tool can be done in front of computer. The communication between the computer and the digital triaxial test device uses a serial communication directly connected to the motor controller module, where the computer sends only characters that will be processed by the microcontroller. The microcontroller translates characters sent, processed, and gives commands to be forwarded to displays and motors. Testing is done directly using Gerlink Triaxial application on computer. Based on some test results obtained that the character sent by the computer can move and change the speed of the motor, and rearrange the loadcell readings on triaxial test equipment. The data rate sent each character is 1.04 milliseconds each.
Co-Authors A.A. Ketut Agung Cahyawan W A.H.B.Baskoro, Catur Hilman Agus Hartanto Anwar Muqorobin Arif Santoso Baskoro, Catur Hilman Adritya Haryo Bhakti Dalmasius Ganjar Subagio Darus, Intan Zaurah Mat Edwar Yazid Estiko Rijanto Fajar Sodiq, Fajar Jamhari Jamhari Lukni Maulana Midriem Mirdanies Nanang Ismail Nor, Nur Safwati Mohd Pahrurrozi, Ahmad Putera, Eka Putra, Mohammad Alexin Rahmayanti, Rifa Rajani, Ahmad Ramadhan, Doni Fajar Riastus Nayanti Ridwan Arief Subekti Rizqi Andry Ardiansyah Roni Permana Saputra Ruchimat, Ruchimat Sanjaya, Kadek Heri Saputra, Ivan Heru Sukma Aditya Utomo, Sapdo Vikita Windarwati Vita Susanti Zain, Mohd Zarhamdy Md Zainal Abidin