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All Journal METAL : Jurnal Sistem Mekanik dan Termal
Ilham Fahmi
Jurusan Teknik Mesin, Universitas Andalas, Padang
Automotive Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Kinematik Forward dan Analisis Kesalahan Pada Kesejajaran Sumbu Join Mekanisme Paralel Rotasi Murni 3-URU Syamsul Huda; Ilham Fahmi; Mulyadi Bur
METAL: Jurnal Sistem Mekanik dan Termal Vol 4, No 1 (2020): Jurnal Sistem Mekanik dan Termal (METAL)
Publisher : Department of Mechanical Engineering, Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1722.753 KB) | DOI: 10.25077/metal.4.1.33-46.2020

Abstract

In this paper we discussed the forward kinematic and constrain error of 3-URU parallel mechanism. The mechanism was composed of URU kinematic chain consisting of three parallel joint axes and two intersecting joint axes. The direction of parallel joint axis representing direction of force constraints acting on center of platform rotation. In this research was investigated the effect of error of direction of parallel joint exes on kinematic chains to the platform orientation and position of center of platform rotation.  It is also developed the formulation of forward kinematic of the mechanism. The forward kinematic was carried out by taking account geometric constraint of platform motion which is derived analytically by using software Maple 16. On the other hand, the constraint error was evaluated using the CAD simulation Autodesk Inventor. Based on the result, it can be summarized that error of parallel joint axes produced significant effect on error of platform motion especially for location of the center of platform rotation which is classified as uncompensated error. The formulation of forward kinematic was successfully derived which is confirmed with inverse kinematic and CAD simulation. 
Co-Authors Mulyadi Bur Syamsul Huda