Penyelesaian Kinematika Langsung Manipulator Paralel Bidang 3-RRR Secara Eksak Menggunakan Open Source Computer Algebra Software: SymPy

  • Adriyan Adriyan Teknik Mesin, Universitas Muhammadiyah Riau
Keywords: manipulator paralel bidang 3-RRR, jawab eksak kinematika langsung, SymPy

Abstract

Penentuan jawab kinematika langsung manipulator paralel merupakan hal yang menarik untuk dikaji karena kompleksitas matematisnya. Artikel ini menyajikan penyelesaian eksak permasalahan kinematika langsung manipulator paralel bidang 3-RRR melalui pemanfaatan perangkat lunak aljabar komputer dengan kode terbuka: SymPy. Prosedur penyelesaian secara simbolik diimplementasikan ke dalam sebuah fungsi python melalui penggunaan pustaka SymPy secara ekstensif. Melalui fungsi ini akan dikalkulasi jawab kinematika langsung manipulator secara numerik untuk nilai konstanta kinematik dan besar sudut input pada sambungan aktif. Hasil pengujian untuk suatu dimensi konstanta kinematika manipulator ini menunjukkan bahwa terdapat dua akar-akar ril penyelesaian kinematika langsungya. Dua akar ril ini mengindikasikan bahwa manipulator memiliki dua modus rakitan kinematika langsung yang berbeda dengan modus rakitan untuk jawab kinematika invers.

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Published
2022-12-30
How to Cite
Adriyan, A. (2022). Penyelesaian Kinematika Langsung Manipulator Paralel Bidang 3-RRR Secara Eksak Menggunakan Open Source Computer Algebra Software: SymPy. Jurnal Surya Teknika, 9(2), 474-480. https://doi.org/10.37859/jst.v9i2.4458
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