DESAIN DAN IMPLEMENTASI GERAKAN MELOMPAT PADA AKTUATOR QUASI DIRECT DRIVE
The need to make actuators that mimic human movement increases. One of the movements to be achieved is to make a leap. But conventional actuators cannot fulfill this because of limitations such as torque density, inability to control acceleration, small mechanical bandwidth. Therefore, this paper wi...
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| Main Author: | |
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/43202 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | The need to make actuators that mimic human movement increases. One of the movements to be achieved is to make a leap. But conventional actuators cannot fulfill this because of limitations such as torque density, inability to control acceleration, small mechanical bandwidth. Therefore, this paper will discuss actuators that can correct these deficiencies, and how these actuators can move the accelerated movement to vertical jump, something conventional conventional actuators cannot do. The type of actuator chosen is a Quasi direct-drive actuator that uses a Gear Ratio of 12. The controller used is Odrive, with the ability to perform position control, velocity control, and current control. The actuator made also resembles an animal's foot with 2 revolute joints to move hip and knee. Printed actuators are made using 3D printing technology using PLA and ABS materials. This paper will also discuss the input current method that can realize the jump movement using the Python language to give commands to the controller. |
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