Article Per Year (5 Year)
p-Index From 2021 - 2026
0.444
P-Index
This Author published in this journals
All Journal Jurnal ULTIMA Computing TELEKONTRAN: Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan
Rifansyah, Raihan Yusuf
Unknown Affiliation
Computer Science & IT Control & Systems Engineering Engineering

Published : 2 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search
Journal : Jurnal ULTIMA Computing

 1 
Six-axis Force–Torque Analysis of a Flexible-Tube Wrist for Misaligned Ports in Robotic EV Charging Rifansyah, Raihan Yusuf; Setya Budi, Agus Heri; Saputra, Hendri Maja
ULTIMA Computing Vol 17 No 2 (2025): Ultima Computing: Jurnal Sistem Komputer
Publisher : Faculty of Engineering and Informatics, Universitas Multimedia Nusantara

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31937/sk.v17i2.4344

Abstract

This paper presents a systematic 6-axis force-torque characterization of a flexible-tube wrist for robotic electric vehicle (EV) charging under various angular misalignments. Robotic plug insertion often relies on simplified models that fail to capture the complex contact dynamics of compliant mechanisms, limiting system robustness. To address this, we developed an experimental platform based on a cartesian robot with a roll–pitch–yaw wrist to measure full force–torque profiles during quasi-static insertions with controlled misalignments ranging from −8° to +8° in pitch and yaw. The results reveal a highly non-linear and asymmetric response, quantitatively demonstrated by a contact onset that shifts from a maximum depth of 45.8 mm at 0° to as early as 31.8 mm at +8° yaw, and peak axial forces reaching -18 N in pitch and -24 N in yaw. This asymmetry has practical implication, where a -5-degree pitch resulted in insertion failure while an equivalent +5-degree was successful. From this dataset, unique and repeatable force signatures were identified for each condition, providing a foundational basis for hybrid control strategies with force sensing to handle the final delicate insertion
Co-Authors Budi, Agus Heri Setya Hendri Maja Saputra Iqbal, Fadhil Muhammad Maryam, Rahillah Nur Muhammad Fadli Nasution Nulfatwa, Robby Ikhfa