Muhammad Irsyad | Electronic Engineering Polytechnic Of Surabaya (original) (raw)

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Drafts by Muhammad Irsyad

Sholahuddin Muhammad Irsyad, 2019

A Gough-Stewart platform is a type of parallel robot that has six prismatic actuators, commonly h... more A Gough-Stewart platform is a type of parallel robot that has six prismatic actuators, commonly hydraulic jacks or electric actuators, attached in pairs to three positions on the platform's baseplate, crossing over to three mounting points on a top plate. Devices placed on the top plate can be moved in the six degrees of freedom in which it is possible for a freely-suspended body to move. These are the three linear movements x, y, z (lateral, longitudinal and vertical), and the three rotations pitch, roll, & yaw.
Mpu 6050 Gyroscope Sensor, Arduino Mega 2560, Processing IDE based on OPENGL and Java Language. The system is designed for stabilizing the mass on top of the system, horizontal stabilization. System operated in 3 axis for stabilization to occur. Gyroscope sensor used to read the current position of platform before the stabilization occurs, system will try to read the upper platform of the robot and try to make adjustment or counter-action for the lower base and 6 legged rod to try make the upper platform horizontally stable. This system is multi usage for condition that require stabilization but in this project is for turret stabilization in a ship for optimizing aiming and firing performance. System using simple inverse control that inverting the position that given by gyroscope that applied in 6 actuator in form of motor servo. User interface is alsa implemented using Processing IDE
Derived from design and testing can be concluded that the device stabilization performance to counterback to the 0 degree ranged from 2 to 10 degree rotation. From the 10 to 30 degree stabilization stabilization performance is dropped up to 50% because of mechanical limitation.
Keywords : Position Sensor, Gyroscope, Stewart Platform, Inverse Control

Sholahuddin Muhammad Irsyad, 2019

A Gough-Stewart platform is a type of parallel robot that has six prismatic actuators, commonly h... more A Gough-Stewart platform is a type of parallel robot that has six prismatic actuators, commonly hydraulic jacks or electric actuators, attached in pairs to three positions on the platform's baseplate, crossing over to three mounting points on a top plate. Devices placed on the top plate can be moved in the six degrees of freedom in which it is possible for a freely-suspended body to move. These are the three linear movements x, y, z (lateral, longitudinal and vertical), and the three rotations pitch, roll, & yaw.
Mpu 6050 Gyroscope Sensor, Arduino Mega 2560, Processing IDE based on OPENGL and Java Language. The system is designed for stabilizing the mass on top of the system, horizontal stabilization. System operated in 3 axis for stabilization to occur. Gyroscope sensor used to read the current position of platform before the stabilization occurs, system will try to read the upper platform of the robot and try to make adjustment or counter-action for the lower base and 6 legged rod to try make the upper platform horizontally stable. This system is multi usage for condition that require stabilization but in this project is for turret stabilization in a ship for optimizing aiming and firing performance. System using simple inverse control that inverting the position that given by gyroscope that applied in 6 actuator in form of motor servo. User interface is alsa implemented using Processing IDE
Derived from design and testing can be concluded that the device stabilization performance to counterback to the 0 degree ranged from 2 to 10 degree rotation. From the 10 to 30 degree stabilization stabilization performance is dropped up to 50% because of mechanical limitation.
Keywords : Position Sensor, Gyroscope, Stewart Platform, Inverse Control