IMPLEMENTATION OF USER INTERFACE DESIGN AND TORQUE TRANSPARENCY TESTING ON ACTUATOR

• Main Author: Nur Triejunita, Chessa
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/41647
• Institution: Institut Teknologi Bandung

The field of robotics is a very popular role as technology develops. Robot developers develop robots that can mimic human or animal movement. It takes an actuator design that supports this movement. Actuators are made using Quasi Direct Drive with a 1:12 gear ratio that can move nimble. Quasi Direct Drive are actuators systems that have the most optimal torque density and fairly linear torque transparency. The gear ratio used should not exceed 1:20, because it will cause the actuator to become rigid and difficult to control because of the relationship between the current and torque of the actuator which is nonlinear. Therefore we need to test torque transparency. In addition, to be able to retrieve data from the trial results of jumping and landing, a GUI (Graphical User Interface) is used to facilitate the implementation of the experiment. GUI needs to fulfill effective use and perception criteria, in order to achieve the goal of using an easy-to-use system.