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All Journal Cylinder : Jurnal Ilmiah Teknik Mesin
Christiand
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Electrical & Electronics Engineering Energy Engineering Materials Science & Nanotechnology Mechanical Engineering

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Pengembangan Sistem Kendali Mekanis Mobile Robot Menggunakan Roda Caster Christiand; Jonathan
Cylinder : Jurnal Ilmiah Teknik Mesin Vol 10 No 2 (2024): OKTOBER 2024
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.v10i2.6034

Abstract

A reliable control system is essential for the operation of a wheeled robot. A castor wheel is a robotic control device that enables the wheeled robot to navigate to various positions and orientations. One implementation method employs a servo motor to adjust the orientation of the castor wheel to a specific driving angle. The mechanism is robust, cost-effective, and simple to produce. This work demonstrates the development of a castor-wheel-based control mechanism utilizing a servo motor and the pure pursuit algorithm to determine the driving angle. The designated wheeled robot employs a BLDC motor as the primary actuator for its two main wheels. An experiment has been performed to assess the proposed control mechanism. The proposed control system achieved a position error of 0.228 m in the Y direction minimally and less than 1 m position error globally. This study presents mechanical, electrical, and software components.
Robot Self-Balancing Berbasis LEGO Mindstorm EV3 Untuk Pembelajaran Robotika Christiand, Christiand; Kenny, Adrian; Christiand; Kurniawan, Riccy
Cylinder : Jurnal Ilmiah Teknik Mesin Vol 11 No 1 (2025): April 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.v11i1.6675

Abstract

Robotics education must be implemented effectively to develop students' conceptual understanding and technical competencies. One relevant approach involves the development of self-balancing robots as an exemplary platform that facilitates learning in mechanical design, control systems, and sensor programming. The success of this approach critically depends on the appropriate selection of both tools and methodologies. The LEGO Mindstorms EV3 platform is an ideal tool due to its assembly convenience, design flexibility, and seamless hardware-software integration for robotic development. Implementing a LEGO Mindstorms EV3-based self-balancing robot provides valuable learning opportunities in robotic control algorithms utilizing gyroscopic sensors, ultrasonic sensors, and servo motors. This research work presents the design and implementation process of a LEGO Mindstorms EV3-based self-balancing robot as an innovative educational tool for robotics. The platform supports integrated mastery of theoretical concepts and technical skills, fostering comprehensive engineering and control systems learning.
The Development of Climbing Mechanism for Cable Inspection Robot Jordan, Hanshen; Christiand
Cylinder : Jurnal Ilmiah Teknik Mesin Vol 5 No 1 (2019): APRIL 2019
Publisher : Department of Mechanical Engineering Atma Jaya Catholic University of Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

For the maintenance of large cable-stayed bridge, cable inspection task using robot becomes an alternative method that is safer, easier and more efficient than a manual inspection. The method is believed to be superior than using drone or human in performing the cable inspection. Our research work focuses on the development of climbing mechanism for cable inspection robot. Our design of climbing mechanism enables the robot to climb on 115 mm cylindrical object, e.g. supporting cable or beam of the bridge. The mechanism can be controlled wirelessly to climb the cylindrical object with the diameter between 100 mm to 120 mm at maximum speed of 10 mm/s. The mechanism is powered by Li-Ion battery that is capable to reach 50 meter distance without the need of charging. The mechanism is also equipped with camera to take pictures of physical inspected objects, e.g. outer part of cable.
Co-Authors Christiand, Christiand Jonathan Jordan, Hanshen Kenny, Adrian Riccy Kurniawan