ABSTRAKMakalah ini melaporkan hasil penelitian terkait rancang bangun suatu purwarupa manipulator lengan robot dengan tiga derajat kebebasan. Proses perancangan dilakukan dalam tiga tahap yang ...mencakup pemodelan matematis kinematika maju dan balik pada robot, desain dan simulasi purwarupa robot menggunakan pemrograman MATLAB dan SOLIDWORKS terintegrasi, dan konstruksi perangkat keras robot menggunakan teknolog 3D printing.Proses simulasi dan eksperimen selanjutnya dilakukan untuk membandingkan kesesuaian operasional dan kinerja perangkat keras dan model simulasi komputer yang telah dirancang. Berdasarkan hasil simulasi dan eksperimen, disimpulkan bahwa desain perangkat keras robot memiliki tingkat kepresisian yang sangat baik dengan batas kesalahan maksimum untuk solusi kinematika maju yang dihasilkan adalah sebesar 2.745% serta batas kesalahan maksimum untuk solusi kinematika balik adalah sebesar 0.06%.Kata kunci: lengan robot, kinematika, robotic toolbox, 3D printing ABSTRACTThe research reported in this paper was aimed at developing a prototype of a robotic arm/manipulator with three degrees of freedom. The prototype was developed in three main stages, namely forward and inverse kinematics modeling of the robot, simulation modeling of the prototype in MATLABSOLIDWORKS integrated environment, and finally the hardware development of the robot using 3D printing techniques. The operational performance of the constructed robotic hardware was then analyzed and compared with that of the developed simulation model. The experimental results of the robot performance evaluations suggested that the robot prototype has good operational precision performance in which the resulting maximum error for forward kinematics task is only about 2.745% whereas the resulting maximum error for inverse kinematics task is only about 0.06%.Keywords: robotic arm, forward kinematics, robotic toolbox, 3D printing
Lighting is one of the human basic needs that must be fullfiled. Compact fluorescent lamps is the most used lamp as source of lighting. However, they contain mercury, which is classified as heavy ...metals, that can potentially harm the environment. Even as mercury container, many people didn't know that. Many people don't know the method to handle the broken or used compact fluorescent lamp. They just dispose the broken compact fluorescent lamp to trash without considering the effect of mercury contained.Inverse Manufacturing concept is about designing product life cycle that aims to repair and reuse product components so that the negative impact can be reduced and minimized. In this research, the concept of Inverse Manufacturing is applied on handling the compact fluorescent lamp product in Bandung, West Java. The study is begun with designing the Inverse Manufacturing concept’s model by adding the step of collecting back (two scenarios), sorting, repairing, remanufacturing, and recycling into the life cycle of compact fluorescent lamp. The results of recycling rates of 15 Watt compact fluorescent lamp (about 234 grams) starts from the lowest value, and the maximum value are 27,51 % (64,366 grams), and 27,61 % (64,609 grams). By applying this concept, the result are the reduction on the amount of compact fluorescent lamp waste dumped into the environment and the achievement of the conservation of natural resources through the reuse of used components.
This research focuses on improving hydropower production by designing a turbine for the MaliringanRiver in Kalimantan Selatan. The rotational speed and torque will be the focus of maximizing power ...generation. This research used Computational Fluid Dynamics (CFD) to understand how the fluid flows and how efficiently the turbine works. The simulations helped us see how the fluid flowed, the pressure differences, and the speed of the water inside the turbine. The software COMSOL Multiphysics imitates how the fluid behaves and interacts in real-life situations. The utilization of SOLIDWORKS played a crucial role in the turbine's design process, facilitating an accurate representation of the turbine's geometry and the subsequent fabrication of a prototype propeller turbine, featuring an outer diameter measuring 0.27 meters and an inner diameter measuring 0.113 meters. The methodology resulted in a power efficiency of 76.45%, showcasing the possibility of significant enhancements in the efficiency of hydropower generation. The broader ramifications of this study emphasize the feasibility of tailor-made turbines for local hydropower initiatives, thereby supporting Indonesia's renewable energy plan by providing sustainable and efficient energy alternatives. This study emphasizes the collaborative utilization of Computer-Aided Design (CAD) and CFD technologies in the progression of turbine technology, thereby establishing a basis for future investigations in hydropower optimization.
Fossil energy has an impact on environmental pollution, will be replaced by renewable energy. One of renewable energy is solar energy. Solar panel is a device that can convert sunlight into ...electricity. However, there is a factor such as temperature that can reduce the efficiency of solar panel. Therefore, this paper shows initial concept used to cool solar panel polycrystalline that have dimension 1480 mm × 680 mm × 35 mm with water treatments method that is drain water on top of polycrystalline solar panel with water pump, put the solar panel on top of a water tank, and combination of the two methods, so that solar panel temperature and ambient temperature below the solar panel are cooler. Efficiency improvement of polycrystalline solar panel occurs, while given water treatments method. However, the initial efficiency of solar panels is 11.9%. The time needed to decreasing the temperature the solar panel from 74.53°C to 25.1°C is 11.39 minutes with a water flow rate of 70 liters/min. Thus, the minimum water in a water tank is 70 liters. The water pump consumes 9.49 WattHour energy. So that the total solar energy starting at 08.00 AM - 11.00 AM after the pump is used is 345.1 WattHour from a total of 354.59 WattHour.
This paper aims to study the power coefficient of the Savonius wind turbine using Computational Fluid Dynamics (CFD) analysis. Power coefficient is one of the parameter of a wind turbine, to define ...the ratio between the actual wind power and the extracted power from rotor. 3D model of the Savonius wind turbine is required to analyze the power coefficient. The 3D model contains the height and diameter of the rotor. The height of the rotor in this research is 600mm and 580mm for the diameter. In this research, CFD is used to analyzed the behavior of Savonius wind turbine under the airfield conditions and to determine power coefficient of the wind turbine. The wind speed on the airfield was set to 5m/s with the angular velocity 5m/s. Power coefficient value of the simulation is 0.301 and from the theoretical calculation is 0.268. Comparison result of the power coefficient between simulation and theoretical calculation has error value 0.123%.
Electricity has become a primary human need and its demand is increasing every year. while the majority of power plants use fossil energy with limited reserves which causes an increase in electricity ...prices. Therefore, we need an alternative energy source as a more economical power plant. One of the solutions is a micro hydro power plant that uses water energy as its power source. Propeller turbine types of micro-hydro-electric power plant is chosen based on the natural potential at Cikapundung river, which is the height difference water surface ( h) of 2 m and the water flow rate ( Q) of 0,01 - 0,11 m 3 /s. With its potential, the output result of propeller turbine can generate 637,24 Watt electrical power with efficiency up to 90,5%.
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