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All Journal JURNAL ELEKTRO Cylinder : Jurnal Ilmiah Teknik Mesin
Ferry Rippun Gideon Manalu, Ferry Rippun Gideon
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Materials Science & Nanotechnology Mechanical Engineering

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Design and Implementation of 6 DOF ROTARIC Robot Using Inverse Kinematics Method Limanuel, Fransisko; Susanto, Calvin; Manalu, Ferry Rippun Gideon
Jurnal Elektro Vol 13 No 2 (2020): Jurnal Elektro: Oktober 2020
Publisher : Prodi Teknik Elektro, Fakultas Teknik Unika Atma Jaya Jakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/jurnalelektro.v13i2.1930

Abstract

This paper will discuss the calculation of inverse kinematic which will be used to control the 6-DOF articulated robot. This robot consists of 6 Dynamixel MX-28 smart servo with OpenCM 9.04 microcontroller. The articulated robot has been simplified to 4-DOF because there are no obstacles in the work area and no special movements are required. The calculation method uses the intersection point equation between the ball and the line, so that it can make it easier to determine the point in calculating the kinematic inverse. The experiment is carried out using the desired position as input for the kinematic inverse to produce the angle of each joint. From the angle of each joint obtained, it will be entered into forward kinematic so that the end-effector position will be obtained. The desired position will be compared with the end-effector position, and then how much difference will be calculated. From the experimental results, it was found that the inverse kinematic method which has been inverted by the forward kinematic produces the same final position. Keywords: 6-DOF manipulator, Articulated robot, inverse kinematics and forward kinematics, Dynamixel MX-28, OpenCM 9
PENGEMBANGAN PERANGKAT LUNAK UNTUK AKUISISI DATA KONSUMSI DAYA LISTRIK DARI POWER METER Ginting, Ignatius; Mulyadi, Melisa; Wijayanti, Linda; Manalu, Ferry Rippun Gideon
Jurnal Elektro Vol 17 No 2 (2024): Jurnal Elektro: Oktober 2024
Publisher : Prodi Teknik Elektro, Fakultas Teknik Unika Atma Jaya Jakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/jurnalelektro.v17i2.6109

Abstract

Technological developments make it possible to monitor electricity consumption in real-time via the internet. The system developed uses a power meter to collect data, Python to process data and IoT connectivity via NodeMCU ESP8266 to send data to the internet. Python is used so that measurement data can be processed and presented in an easy-to-understand format. The test results show that electrical data measurements can be displayed with an error ranging from 0.04% -11.56%. This is because there is a delay from the time the power meter is measured until the data is displayed on ThingSpeak.
Pengaruh Energi Input Micro-Plasma Arc Welding Terhadap Struktur Mikro dan Sifat Mekanik Sambungan Baja DIN 2311 Yota, Richard Shan; Manalu, Ferry Rippun Gideon; Widiarto, Sandra Octaviani B.; Basuki, Widodo Widjaja
Cylinder : Jurnal Ilmiah Teknik Mesin Vol 11 No 2 (2025): Oktober 2025
Publisher : Department of Mechanical Engineering Atma Jaya Catholic University of Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/cylinder.v11i2.7366

Abstract

Molds are important components in the plastic injection molding processes. Even though molds are generally made of strong and heat-resistant steel, but when used repeatedly and continuously, the mold will also experience damage such as scratches and dents caused by dynamic thermal and mechanical loading. Making new molds requires very high costs. Mold repairs using traditional welding such as laser welding and Tungsten Inert Gas welding, apart from requiring relatively high costs, also require sophisticated skills. This problem can be overcome with Micro-Plasma Arc Welding (MPAW). With this welding method, the process of melting the material and filler is concentrated at one point which prevents the spread of excess heat to the parent material. Welding on DIN 2311 low alloy steel, which is often chosen as a plastic molding material, was carried out with weld energies of 120, 132 and 144 J. The welding results were tested to determine the microstructure evolution, hardness distribution and strength values ​​of each specimen. From the test results of materials processed through MPAW, it can be concluded that the specimen produced with a weld energy of 132 J has the most optimal microstructure and hardness distribution so that it can have strength equivalent to the strength of the original material before welding, with relatively high ductility as proven by its ability to perform plastic deformation of 7.8% or just 3.2% lower than the ability of the original material.
Co-Authors Basuki, Widodo Widjaja Ginting, Ignatius Limanuel, Fransisko Melisa Mulyadi Susanto, Calvin Widiarto, Sandra Octaviani B. Wijayanti, Linda Yota, Richard Shan