This Author published in this journals
All Journal Jurnal Teknik Mesin
Anrinal Anrinal
Institut Teknologi Padang

Published : 2 Documents

Found 2 Documents

Jurnal Teknik Mesin ISSN 2089-4880 Vol 1, No 2 (2012): Volume 1 No 2 Tahun 2012
Publisher : Jurnal Teknik Mesin ISSN 2089-4880

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The study aims to analyze the influence of time pressure on the strength of the weld connection point (spot welding) low carbon steel. The study was conducted by analyzing the tensile strength of the weld point by press time variation 20, 25, and 30 seconds on a current strength 70 Amperes. The results show that the press time will determine the outcome of a process of welding and weld strength. The longer ofpress time will result in nugget diameter (weld metal) getting bigger, and this resulted in attraction strength also increased.
Kinematic Analysis of A 4-Axis Manipulator Design with 2-Axis Gripper Yanto, Asmara; Saferi, Rozi; Anrinal, Anrinal; Azhar, Fikri
Jurnal Teknik Mesin (JTM) Vol 9, No 1 (2019)
Publisher : ITP Press - Institut Teknologi Padang

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The purpose of this work is to analyze the kinematic of a manipulator that was designed to has four revolute movements (R1, R2, R3 and R4) and is equipped with a gripper that has one revolute movement (R) and one prismatic movement (P). The analysis was conducted by varying R1, R2, R3 and R4 of manipulator and R and P of gripper. Kinematic analysis was carried out using the Forward Kinematics method based on DH-Parameters of manipulator and gripper. Manipulator was designed to be consist of 120 mm of Link-1, 200 mm of Link-2, 250 mm of Link-3 and 250 mm of Link-4. Revolute movements range of manipulator was designed for -360o ≤ R1 ≤+360o, -15o ≤ R2 ≤+60o, -30o ≤ R3 ≤+45o and -60o ≤ R1 ≤+15o, and with movements range of gripper are -360o ≤ R ≤+360o and -35 mm ≤ P ≤+35 mm. From this work can be concluded that manipulator has 228.5 mm of minimum range radius of end-effector and 547.0 mm of maximum range radius of end-effector.