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All Journal Asian Journal Science and Engineering Evrimata: Journal of Mechanical Engineering
binti MD. Zain, Zainah
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Automotive Engineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Electrical & Electronics Engineering Materials Science & Nanotechnology Mechanical Engineering

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Integrated Robotic Arm Control: Inverse Kinematics, Trajectory Planning, and Performance Evaluation for Automated Welding Huda, Arif Nur; Pebrianti, Dwi; binti MD. Zain, Zainah
Asian Journal Science and Engineering Vol. 2 No. 2 (2023): Asian Journal Science and Engineering
Publisher : CV. Creative Tugu Pena

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51278/ajse.v2i2.1021

Abstract

This research delves into the automated functionality of robotic arm manipulators, a hallmark of Industry 4.0, within the manufacturing sector. The study focuses on precise movement adhering to predetermined trajectories, addressing the vital aspects of inverse kinematics and trajectory planning in robotic arm control. Utilizing the Matlab robotic toolbox, the research conducts simulations of inverse kinematic and trajectory planning. An experimental setup involving a robotic arm controlled by an Arduino Mega 2560 microcontroller, embedded with the inverse kinematic algorithm and trajectory planning, is executed. Data acquisition involves inputting coordinates and orientation for automatic welding along a straight path. Joint angles are measured using rotary encoders and converted into Cartesian coordinates to determine the end-effector's position. Discrepancy analysis compares measured joint angles with simulation values, revealing error margins. Movement quality of the robotic arm is assessed through Capability Processes (CP) evaluation. Results indicate disparities between experimental and simulated values. At input coordinates (400mm, 0mm, 300mm), joint angle errors of 2.51º, 0.98º, and 1.48º are observed for joints 2, 3, and 5, respectively. Similarly, at input coordinates (300mm, 0mm, 300mm), joint angle errors of 1.17º, 1.5º, and 2.7º are registered for the same joints. Trajectory error analysis during straight welding reveals average errors of 2.25 mm and 10.57 mm along the x and y axes. Mean absolute errors for joints 2, 3, and 5 are 1.9º, 0.48º, and 1.91º. Keywords: Robotic Arm Manipulators, Inverse Kinematics, Trajectory Error Analysis
The Effect of Pin Length and Compressive Force in Double Side Friction Stir Welding on Bending Strength of AA1100 Sukma Satriawan; Setiawan, Agus; Pebrianti, Dwi; Binti MD. Zain, Zainah
Evrimata: Journal of Mechanical Engineering Vol. 01 No. 01, 2024
Publisher : PT. ELSHAD TECHNOLOGY INDONESIA

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.70822/evrmata.vi.16

Abstract

Many new welding methods have emerged to improve connection results, including friction stir welding (FSW). FSW is a welding method that is widely used in welding aluminium alloys. FSW method on AA1100 aluminium material has not yet obtained the maximum bending strength so it is necessary to study the improvement of the quality of FSW joints using the welding method on both sides or double side friction stir welding (DFSW). This study aims to determine the effect of pin length and downward force on double side friction stir welding (DFSW) on the bending strength of AA1100 aluminium . The independent variables of this study are pin length (1.5 mm, 2 mm, 2.5 mm) and downward force (30 kg, 35 kg, 40 kg, 45 kg). The controlled variables are shoulder diameter of 25 mm, machine table translational speed of 10 mm/min, spindle rotation speed of 1750 rpm, base plate temperature of 250ºC, and AA1100 plate thickness of 3.6 mm with butt joint type welding connection model. The method used in this research is experimental using the factorial design of experiment (DOE) data analysis method. The results of this study indicate that pin length and downward force have a significant effect on the bending strength of DFSW welded joints on AA1100. The maximum bending strength value of the welded joint was 289.59 MPa at a pin length variation of 2 mm and a compressive force of 35 kg. The percentage of weld defects including tunnel and flash in welded joints with maximum bending strength is identified as the least and the micro test results also show the least FeAl3 particle grains.
Co-Authors Agus Setiawan Huda, Arif Nur Pebrianti, Dwi Sukma Satriawan