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Adriyan Adriyan
Mechanical Engineering Faculty, STITEKNAS Jambi
Control & Systems Engineering Energy Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Kinematics and Singularity Analysis of 2 DOF Planar Parallel Manipulators with Symmetrical Parallelogram Chains Adriyan Adriyan
Jurnal Teknik Mesin Vol 10 No 2 (2020): Jurnal Teknik Mesin Vol.10 No.2 October 2020
Publisher : Lembaga Penelitian dan Pengabdian Masyarakat (LP2M) - ITP

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1399.067 KB) | DOI: 10.21063/jtm.2020.v10.i2.79-87

Abstract

This paper presented the kinematic and singularity analysis of two degree of freedom planar parallel manipulator or 2DOF PPM, in short, with symmetrical parallelogram chains. There were two configurations of 2DOF PPM that analyzed in this paper, that were 2-ΠΠΠ and 2-ΠΠ. Both PPM were represented on a topology diagram using graphs, respectively. Before conducting a kinematic analysis, 2-ΠΠΠ dan 2-ΠΠ were simplified to an equivalent kinematic chain, which was a well-known 5R kinematic chain. Then, the closed-form solutions for the inverse kinematic and the direct kinematic of the PPM were obtained by using the equivalent kinematic chain. Afterward, the velocity analysis was carried out to acquire Jacobians of the PPM. Hence, the singularity analysis can be performed to investigate singularity conditions that existed on the manipulator using these Jacobians. The singularity analysis showed that three singularity conditions existed on the manipulator, i.e. inverse, direct, and combined kinematic singularity. An insightful schematic was provided to illustrate each singularity condition.
Modeling and Simulation of a Rotary Quadruple Pendulum System Using Scientific Python Stacks and Modelica Language Adriyan
Jurnal Teknik Mesin Vol 7 No 1 (2017): Jurnal Teknik Mesin Vol.7 No.1 April 2017
Publisher : Lembaga Penelitian dan Pengabdian Masyarakat (LP2M) - ITP

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21063/jtm.2017.v7.i1.29-37

Abstract

This paper presented the modeling and simulation of a rotary quadruple pendulum (RQP) system using two open source software, i.e: scientific python stacks (SciPy stacks) and Modelica language via Anaconda python distribution and OpenModelica, respectively. The modeling stage using SymPy (a package of SciPy stacks) was conducted to obtain the governing equation in full symbolic form by applying Lagrange’s method. The listing code is also provided to test by the user later on. Meanwhile, both modeling and simulation were performed in Modelica language by addressing several conditions concerning the initial conditions of the system, i.e: examining up-up-up-up, up-up-down-down, and up-down-up-down conditions. Simulation required the numerical values of the RQP system be supplied before running the simulation. In conclusion, the derivation of the governing equation using SymPy can be done in a matter of minutes without having a mistake when doing the algebraic manipulation. Simulation using OpenModelica was present the response of the RQP system in three conditions that considered initial conditions imposed to the system. The model obtained through this research can be used a baseline for developing a control scheme for the RQP system in its inverted position.
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