LAPORAN FINAL PROJECT

MATA KULIAH KINEMATIKA MEKANISME

DESIGN & PROTOTYPING SPIDER ROBOT

THEO JANSEN MECHANISM

KELOMPOK 4

KETUA: ANDREAS PANDAPOTAN SIMORANGKIR/ 5007211084

ANGGOTA:
1. DAVID LEO NUR UTOMO/ 5007211015
2. ANITA DEWI/ 5007211045
3. ROMANDO JANUAR GABRIEL SIMANJUNTAK/ 5007211066

SEMESTER GASAL 2022/2023

DEPARTEMEN TEKNIK MESIN

FAKULTAS TEKNOLOGI INDUSTRI DAN REKAYASA SISTEM
INSTITUT TEKNOLOGI SEPULUH NOPEMBER (ITS) SURABAYA

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 LEMBAR PENGESAHAN

Laporan ini dibuat untuk memenuhi syarat kelulusan dan evaluasi belajar mata kuliah
Kinematika Dinamika di Departemen Teknik Mesin ITS. Dengan ini kami menyatakan
bahwa laporan ini kami buat sungguh-sungguh dan sebenar-benarnya dengan berpedoman
pada etika belajar dan riset dengan menghindarkan bentuk plagiasi apapun.

Laporan ini telah diperiksa dan disetujui oleh asisten kelas untuk diajukan penilaiannya oleh
dosen kelas.

Surabaya, 21 Desember 2022 Surabaya, Desember 2022

Diajukan oleh Diperiksa dan disetujui oleh

Andreas Pandapotan Simorangkir/ Talita Azalia Mukadar/

5007211084 02111940000046

Surabaya, Desember 2022

Dinilai oleh

Dr. Eng. Yohanes,

NIP. 198006272012121003

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 EXECUTIVE SUMMARY

Project robot mekanisme Jansen adalah sebuah project yang bertujuan untuk membuat
sebuah robot dengan stik es krim, sumber penggerak dinamo, dan sumber energi berupa
baterai. Robot ini dirancang dengan penuh analisis mulai dari analisis posisi tiap perubahan
sudut titiknya, kecepatan percepatan, dan gaya serta torsi pada robot mekanisme Jansen.
Dalam project ini, agar robot mampu bergerak dengan seimbang, analisis posisi harus
sampai tapak kaki. Pada mulanya, untuk membuat robot ini ditentukan ukuran untuk setiap
struktur pada kaki robot. Lalu disimulasikan menggunakan Javalab untuk melihat bagaimana
lintasan tapak kaki pada robot, apakah robot tersebut mampu menapak dengan baik atau
tidak.
Selanjutnya, dilakukan analisis dengan menghitung perubahan posisi tiap perubahan
sudut. Setelah analisis posisi dilakukan analisis kecepatan dan percepatan dengan metode
grafis. Metode grafis dipilih karena dianggap lebih mudah daripada metode analitis. Lalu,
analisis ketiga dari project ini adalah analisis gaya dan torsi. Analisis gaya dan torsi
membutuhkan massa dari robot jansen dengan cara ditimbang dan percepatan dari hasil
analisis kecepatan dan percepatan.
Dalam ketiga analisis yang dilakukan, ada beberapa kendala dalam melakukan
analisis seperti analisis posisi sampai tapak kaki. Yang kedua adalah kendala dalam
menentukan sudut sudut pelurus dari penarikan garis tegak lurus pada batang pada analisis
kecepatan dan penentuan percepatan jika batang mengalami pecepatan radial dan sentripal.
Setelah dilakukan perlombaan, didapatkan kelebihan dan kekurangan dari prototipe
mekanisme Jansen kami. Kelebihan tersebut antara lain mampu berjalan lurus dan seimbang
serta memiliki struktur yang rigid. Kekurangan dari prototipe kami antara lain memiliki
struktur yang kecil sehingga memiliki langkah yang kecil. Prototipe sempat berjalan berputar
pada saat awal perakitan akibat sudut shaft tidak membentuk 180o , sehingga tidak mampu
menumpu torsional stress. Selain itu, penggunaan tusuk gigi pada awal perancangan shaft
menyebabkan adanya momen puntir karena suaian longgar antara tusuk gigi dan dinamo.
Saran yang dapat diberikan untuk mengatasi berbagai kendala, baik dalam analisis
dan prototype adalah dibutuhkannya kesabaran dan kerjasama yang baik antara anggota tim
ketika melakukan analisis. Selain itu, pembuatan prototipe harus rigid agar tidak mengalami
pergeseran tiap link. Perlu diperhatikan juga untuk penyusunan tiap batang harus sama agar
persebaran gaya tiap link tidak terjadi ketimpangan. Penyusunan kaki harus berkebalikan
antara kiri dan kanan.
Adapun rekomendasi yang dapat diberikan untuk pembuatan mekanisme robot Jansen
adalah menggunakan stik es krim yang memiliki ketebalan sekitar 0,15 cm. Hal ini bertujuan
untuk menghindari stik retak saat dilakukan pemotongan dan pengeboran. Selain itu perlu
diperhatikan dalam penggunaan dinamo yang sesuai dengan kemampuan struktur. Hal ini
bertujuan untuk menghindari struktur mengalami kerusakan.

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LEMBAR PENGESAHAN.....................................................................................................2
BAB I.......................................................................................................................................12
PENDAHULUAN...................................................................................................................12
1.1 Latar Belakang...........................................................................................................12
1.2 Perumusan Masalah...................................................................................................12
1.3 Tujuan........................................................................................................................12
2.1 Desain Geometri........................................................................................................13
2.3 Analisis Kecepatan....................................................................................................17
2.4 Analisis Percepatan Tiap Link...................................................................................18
2.5 Analisis Gaya dan Momen........................................................................................19
2.7 Pembuatan Prototipe..................................................................................................19
2.8 Pengujian Fungsi.......................................................................................................23
BAB III....................................................................................................................................24
HASIL DAN ANALISIS........................................................................................................24
3.1 Lintasan Tapak Kaki..................................................................................................24
3.2 Kecepatan Robot.......................................................................................................67
3.4 Analisis Percepatan.................................................................................................101
3.4 Analisis Gaya dan Torsi..........................................................................................103
3.5 Daya penggerak.......................................................................................................104
3.6 Kelebihan dan Kekurangan Rancangan...................................................................104
KESIMPULAN DAN SARAN............................................................................................105
4.1 Kesimpulan..............................................................................................................105
4.2 Saran........................................................................................................................105
REFERENSI.........................................................................................................................106

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DAFTAR TABEL
Tabel 1

1
DAFTAR GAMBAR
Gambar 2.0.1 Desain Geometri Mekanisme Jansen...............................................................................8
Gambar 2.0.2 Analisis Posisi Titik A....................................................................................................8
Gambar 0.3 Analisis Posisi Titik B........................................................................................................9
Gambar 0.4 Analisis Posisi Titik C......................................................................................................10
Gambar 0.5 Analisis Posisi Titik D.....................................................................................................11
Gambar 0.6 Analisis Posisi Titik E......................................................................................................11
Gambar 0.7 Analisis Posisi Titik F......................................................................................................12
Gambar 0.8 Stik Kayu.........................................................................................................................15
Gambar 0.9 Baut Besi..........................................................................................................................15
Gambar 0.10 Baut Akrilik...................................................................................................................15
Gambar 0.11 Baterai 9V......................................................................................................................15
Gambar 0.12 Dinamo..........................................................................................................................16
Gambar 0.13 Shaft dari besi................................................................................................................16
Gambar 0.14 Saklar.............................................................................................................................16
Gambar 0.15 Lem Bakar......................................................................................................................16
Gambar 0.16 Tempat Baterai...............................................................................................................17
Gambar 0.17 Kabel..............................................................................................................................17
Gambar 0.18 Desain Mekanisme Jansen.............................................................................................18
Gambar 0.19 Prototipe Mekanisme Jansen..........................................................................................18
Gambar 0.1 Lintasan Tapak Kaki Robot (Satu Kaki) dalam Perhitungan Excel..................................19
Gambar 0.2 Lintasan Tapak Kaki Robot (Satu Kaki) dalam Javalab...................................................20
Gambar 0.3 Analisis Posisi Titik A.....................................................................................................20
Gambar 0.4 Grafik Perubahan Sudut Motor terhadap Posisi Link OA pada Sumbu-x.........................27
Gambar 0.5 Grafik Perubahan Sudut Motor terhadap Posisi Link OA pada Sumbu-y.........................28
Gambar 0.6 Grafik Perubahan Posisi Sumbu-x dan Sumbu-y pada Link OA......................................28
Gambar 0.7 Analisis Posisi Titik B......................................................................................................28
Gambar 0.8 Grafik Perubahan Sudut Motor terhadap Posisi Titik B pada Sumbu X...........................35
Gambar 0.9 Grafik Perubahan Sudut Motor terhadap Posisi Titik B pada Sumbu Y...........................35
Gambar 0.10 Grafik Perubahan Posisi Sumbu-x dan Sumbu-y pada Titik B.......................................35

1
 BAB I
PENDAHULUAN

1.1 Latar Belakang

Analisis kinematika diperlukan dalam merancang suatu sistem mekanik. Hal ini
dikarenakan kinematika merupakan salah satu faktor penting dalam perancangan dan
pengoperasian suatu komponen mesin. Kecepatan dan percepatan suatu mekanisme akan
mengalami perubahan, jika posisi mekanisme tersebut berubah. Kecepatan dan percepatan
yang dihasilkan akan menghasilkan suatu tenaga pada mekanisme. Dalam mesin itu
komponen-komponen satu sama lainnya ada yang bergerak dan diam untuk mengubah atau
memindahkan energi.
Pada kesempatan ini, kami merancang analisis kinematika dari mekanisme Jansen.
Robot Jansen sendiri adalah robot yang menggunakan mekanisme Theo Jansen dalam
perancangannya. Mekanisme Theo Jansen menggunakan sebelas batang kecil, pematung
kinetik Belanda Theo Jansen telah menciptakan mekanisme planar yang bila digunakan
bersama-sama dengan banyak orang lain yang identik dengannya, dapat berjalan dengan
gerakan maju yang mulus. Hasilnya perangkat memiliki tampilan yang sangat organik,
seperti binatang merayap.

1.2 Perumusan Masalah

Adapun rumusan masalah dari latar belakang yang telah dipaparkan di atas adalah
sebagai berikut:
1. Bagaimana gambar lintasan tapak kaki dari robot Jansen?
2. Berapa kecepatan dan percepatan gerak dari robot Jansen?
3. Bagaimana perbandingan kecepatan gerak robot yang dirancang dengan kecepatan
robot hasil pengukuran?
4. Berapa gaya tiap centroid link dan torsi penggerak?
5. Berapa daya yang diperlukan untuk menggerakkan robot Jansen agar berjalan secara
optimal?
6. Apakah kekurangan dan kelebihan dari desain yang telah dibuat dan direalisasikan?

1.3 Tujuan
Adapun tujuan dari rumusan masalah yang telah dirumuskan adalah sebagai berikut:
1. Mengetahui gambar lintasan tapak kaki dari robot Jansen
2. Mengetahui kecepatan dan percepatan gerak dari robot Jansen
3. Mengetahui perbandingan kecepatan gerak robot yang dirancang dengan kecepatan
robot hasil pengukuran
4. Mengetahui gaya tiap centroid dan torsi penggerak
5. Mengetahui daya yang diperlukan untuk menggerakkan robot Jansen agar berjalan
optimal
6. Mengetahui kelebihan dan kekurangan desain yang telah dibuat dan direalisasikan

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 BAB II
METODOLOGI

2.1 Desain Geometri

2.1.1 Gambar Desain Geometri
Berikut adalah gambar desain geometri dari mekanisme Jansen:

Gambar 2.0.1 Desain Geometri Mekanisme Jansen

2.2 Analisis Perhitungan Posisi Tiap Link
Untuk menganalisis posisi perubahan pada setiap link mekanisme Jansen, maka kita
harus mengetahui geometri perubahan sudut pada setiap linknya seperti pada gambar berikut :
2.2.1 Analisis Posisi Titik A

Gambar 2.0.2 Analisis Posisi Titik A

Berikut persamaan yang digunakan untuk menentukan perubahan posisi titik
A:
Ax=LOA × cos ( θ motor )
Ay=LOA ×sin ( θ motor )

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2.2.2 Analisis Posisi Titik B

Gambar 2.0.3 Analisis Posisi Titik B

Berikut persamaan yang digunakan untuk menentukan perubahan posisi titik B:

' 2 2 2 ' o
L O A =LO O' + LO A −2 LO O . LOA . cos ⁡(18 0 −θ motor )
L O' A= √ LO O' 2+ LO A 2−2 LO O' . LOA . cos ⁡(18 0o−θ motor )
sinβ sin θmotor
=
LOA LO ' A
sin θmotor
sinβ=LOA ×
LO ' A

β=sin (
−1 LOA ×sin θ motor
LO ' A )
2 2 2 '
LO β =L OA + LA B −2 LO A . LAB . cosα
B X =− A X + LAB×cos θ AB
BY = A y + LAB ×sin θ AB
2 2 2
L OA + LA B −LO ' B
cosα= '
2 LO A . LAB

α =cos
−1
(
LOA 2 + LA B2−LO ' B 2
'
2 LO A . LAB )
sinγ sinα
=
LAB LO ' B
sinα × LAB
sinγ=
LO ' B
γ=sin (
−1 sinα × LAB
LO ' B )
θAB=α−β

2.2.3 Analisis Posisi Titik C

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 Gambar 2.0.4 Analisis Posisi Titik C
Berikut persamaan yang digunakan untuk menentukan perubahan posisi titik C:
' ' 2 '
L O A=LO O + LO A −2 LO O . LOA . cos ⁡¿
L O' A= √ LO O' 2+ LO A 2−2 LO O' . LOA . cos ⁡(18 0o−θ motor )
sinβ sin θmotor
=
LOA LO ' A
sin θmotor
sinβ=LOA ×
LO ' A

β=sin
2
(
−1 LOA ×sin θ motor
LO ' A )
2 'A 2 '
LO β =L O + LA C −2 L O A . LAB . cosα
LO A ' 2 + LA C 2−LO ' B2
cosα= '
2 LO A . LAC

( )
'2 2 2
−1 LO A + LA C −LO ' B
α =cos
2 L O' A . LAC
sinγ sinα
=
LAB LO ' B
sinα × LAC
sinγ=
LO ' C
γ=sin (
−1 sinα × LAC
LO' C )
θAB=α−γ
C X =−A X + LAC × cos θ AC
C Y =A y + LAC ×sin θ AC

2.2.4 Analisis Posisi Titik D

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 Gambar 2.0.5 Analisis Posisi Titik D

Berikut adalah persamaan yang digunakan untuk menentukan perubahan posisi

sudut titik D:

√
Lbayang−bayang OB= ( OX −B X ) + ( OY −B Y )
2 2

( )
2 ' 2
−1 LO ' B + LO O−LO B
θOD =cos
2 LO' B . LO ' O

( )
2 2
'B 'D 2
−1 LO + L O −LB D
θ BD=cos '
2 × LO B × LOD

θOD =θ BD+ θOD

' '
D x =−LO O + LO D× cos ⁡(θOD )
'
D y =−LO D × sin ⁡(θ OD )
2.2.5 Analisis Posisi Titik E

Gambar 2.0.6 Analisis Posisi Titik E

Berikut adalah persamaan yang digunakan untuk menentukan perubahan posisi

sudut titik E:
√
Lbayang−bayang= ( D X −C X ) + ( DY −C Y )
2 2

θ DC =tan
−1
( D y −C y
D x −C x )
( )
2 2
Lbayang−bayang DC +¿ C −¿ D
−1
2

θcε =cos
2× LDC × LEC
E x =−LEC . cos ( θCD +θCE ) +C x
E y =−LEC . sin ( θ CD +θ CE ) +C Y

1
 2.2.6 Analisis Posisi Titik F

Gambar 2.0.7 Analisis Posisi Titik F

Berikut adalah persamaan yang digunakan untuk menentukan perubahan posisi
sudut titik F:

( )
2 2 2
LC E + LC F −¿ F
δ =cos−1
2 ×≤× LCF

F x =C x −LCF . cos ( δ +θCE +θCD )

F Y =CY −LCF . sin ( δ + θCE +θ CD )

2.3 Analisis Kecepatan

2.3.1 Analisis Kecepatan Titik A ( LOA/ Batang OA)
2 πn 2 π ×200
n motor= = =20,952381rad / s
60 60
rad 13 mm
V OA =ω × LOA =20,952381 × =¿
s s
2.3.2 Analisis Kecepatan Titik B ( L AB/ Batang AB)
−LOA × ω LOA × sin ⁡(θ O B−θ motor ) '

ω LAB =
L AB ×sin ⁡(θO B −θ AB )
'

θO B =180 °−θOO B
' '

V AB=ω AB × L AB=¿
2.3.3 Analisis Kecepatan Titik C ( L AC / Batang AC)
V AC =ω AC × L AC =¿
LOA × ω LOA ×sin ⁡(θO C −θ motor ) '

ω LAC =
L AC ×sin ⁡(θO C −θ AC )
'

V OA =ω × LOA =¿
√ 2
LOC = ( C X −OX ) + ( C Y −OY )
2

2.3.4 Analisis Kecepatan Link O’B

LOA ×ω OA ×sin ( θmotor ) +ω AB × L AB ×sin ( θ AB )
ω O ' B=
LO' B ×sin ⁡(θO B ) '

2.3.5 Analisis Kecepatan Link O’C

1
 LOA × ωOA ×sin ( θ motor ) + ω AC × L AC × sin ( θ AC )
ωO ' C =
LO ' C × sin ⁡( θ O C )
'

2.3.6 Analisis Kecepatan Link O’D

Karena link O’D dengan link O’C adalah satu link, maka dapat diasumsikan
kecepatan putarnya adalah sama, sehingga:
ω O ' C =ωO ' D
V O 'C V O ' D
=
LO 'C LO ' D
Didapatkan kecepatan linear link O’D dalam persamaan berikut ini:
V O' C
V O' D= × LO ' D
LO ' C

2.4 Analisis Percepatan Tiap Link

2.4.1 Analisis Percepatan dengan Metode Analitis
Berikut adalah metodologi untuk mendapatkan nilai percepatan secara analitis:
1. Siapkan software autocad atau pun inventor.
2. Desain mekanisme jansen digambar sesuai yang ada di JavaLab dengan
ukuran yang sama.
3. Mencari kecepatan sudut motor terlebih dahulu dengan rumus 2πnr/60.
4. Setelah mendapatkan kecepatan sudut, lalu dapat mencari kecepatan linear
dengan cara nilai kecepatan sudut dikali dengan nilai panjang batang/link
OA yang dikenai oleh kecepatan sudut tersebut.
5. Setelah mendapatkan kecepatan linear batang OA yang telah dihitung,
maka selanjutnya dapat digunakan metode grafis untuk menghitung
kecepatan pada batang batang lain.
6. Buatlah garis dengan besar panjang sesuai dengan panjang besar kecepatan
linear batang OA dengan sudut kemiringan garis besarnya 90° terhadap
batang/link OA.
7. Setelah itu, untuk menganalisis kecepatan linear link/ batang lain, kita dapat
melakukan penarikan garis dengan sudut kemiringan 90 derajat terhadap
batang link yang ingin kita cari kecepatannya. Penarikan garis dimulai dari
batang/link kedua ujung OA.
8. Setelah penarikan garis sudah dilakukan pada kedua ujung batang OA,
maka kedua garis tersebut Akan mengalami perpotongan, jika sudah
mengalami perpotongan kedua garis tersebut kita dapat menghitung besar
kecepatannya linear kedua batang yg belum diketahui, dengan cara
menghitung panjang penarikan garis dari ujung batang grafis link OA
sampai titik perpotongan kedua garis.
2.4.2 Analisis Percepatan dengan Metode Grafis
Untuk mendapatkan nilai percepatan dengan metode grafis, adapun langkah
langkahnya :
1. Setelah melakukan analisis terhadap besarnya kecepatan linear terhadap
semua link, lalu kita dapat mengetahui nilai kecepatan sudut pada setiap

1
 link tersebut dengan cara besar nilai kecepatan linear dibagi panjang link
tersebut.
2. Setelah mendapatkan nilai nilai kecepatan sudut tiap link, maka kita dapat
menghitung nilai percepatan normal nya dengan rumus w²×r dimana w
adalah kecepatan sudut dan r adalah panjang link tersebut.
3. Setelah mendapatkan percepatan normal setiap masing-masing link, lalu
langkah selanjutnya kita perlu mencari besar nilai percepatan tangensial nya
terlebih dahulu.
4. Untuk mendapatkan percepatan tangensial setiap masing-masing link, dapat
menggambar garis garis percepatan normal pada setiap masing-masing link
yang arahnya selalu menuju ke titik pusat.
5. Setelah menggambar grafis garis percepatan normal pada masing masing
link, kita dapat menentukan besarnya percepatan tangensial dengan cara
menarik garis tegak lurus terhadap garis grafis percepatan normal untuk
setiap link.
6. Setelah menarik garis grafis yang tegak lurus terhadap garis grafis
percepatan normal, maka garis tegak lurus tersebut akan mengalami
perpotongan dengan garis grafis yang tegak lurus dari link lain.
7. Setelah mengetahui titik perpotongan antara garis grafis yang tegak lurus
antara link, maka kita dapat mengetahui besar percepatan tangensial yang
dialami antara link tersebut dengan mengukur panjang dari titik awal garis
tegak lurus dengan percepatan normal hingga titik akhir perpotongan.
8. Setelah mendapatkan nilai percepatan normal dan percepatan tangensial
nya, kita dapat mengetahui nilai besar percepatan totalnya dengan cara
menarik garis dari titik awal garis percepatan normal hingga titik akhir
percepatan sentripetal yang membentuk diagram segitiga vektor.
9. Atau dapat menggunakan rumus Phytagoras untuk menghitung percepatan
total yang dialami link tersebut.
2.5 Analisis Gaya dan Momen
Sebelum menganalisis gaya dan momen, kita perlu mencari titik centroid segitiga
terlebih dahulu dengan persamaan berikut:
x 1+ x 2 + x 3
x=
3
y1 + y2 + y3
y=
3

2.6 Analisis Kebutuhan Penggerak

Untuk dapat mengerakkan robot mekanisme Jansen diperlukan beberapa komponen
sebagai berikut:
1. Dinamo sebagai sumber gerak
2. Shaft sebagai penghubung dinamo dan link OA
3. Saklar untuk menyambung dan memutus arus listrik
4. Kabel untuk menyalurkan arus listrik dari baterai ke dinamo
5. Baterai sebagai sumber energi

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2.7 Pembuatan Prototipe
2.6.1 Alat dan Bahan

1. Stik kayu

Gambar 2.0.8 Stik Kayu

Gambar 2.0.9 Baut Besi

2. Baut besi dan baut akrilik

Gambar 2.0.10 Baut Akrilik

3. Baterai 9V

Gambar 2.0.11 Baterai 9V

4. Dinamo

Gambar 2.0.12 Dinamo

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 5. Shaft dari besi

Gambar 2.0.13 Shaft dari besi

6. Saklar

Gambar 2.0.14 Saklar

7. Lem Bakar

Gambar 2.0.15 Lem Bakar

8. Tempat Baterai

Gambar 2.0.16 Tempat Baterai

9. Kabel

Gambar 2.0.17 Kabel

2.6.2 Langkah Pembuatan

1. Memotong stik sesuai dengan ukuran yang telah ditentukan:
- 7,3 cm
- 6,3 cm
- 3,4 cm

1
 - 4,4 cm
- 2 x 3,9 cm
- 3,7 cm
- 4.2 cm
- 6,8 cm
- 4,7 cm
- 1,3 cm
2. Melubangi kedua ujung stik dengan jarak 0,5 cm untuk tempat bertemunya
joint antarlink
3. Merangkai stik tersebut dengan memasang joint penghubung antarlink
yaitu baut akrilik dan agar menjadi sebuah rangkaian dengan desain seperti
gambar berikut :

Gambar 2.0.18 Desain Mekanisme Jansen

Perlu diperhatikan dalam penyusunan stik, penempatannya baik di atas
atau di bawahnya harus sesuai kanan dan kiri (sejajar atau 180° ) agar
persebaran gaya pada tiap link sama.
4. Membuat frame dengan tiga lubang (dengan kiri dan kanan untuk link O’A
sedangkan untuk lubang yang di tengah untuk link OA).
5. Membuat tempat untuk dinamo dan baterai dengan stik.
6. Menyatukan link OA, motor, dan shaft (untuk shaft dengan dinamo
disambungkan menggunakan lem agar tidak terpuntir saat dijalankan,
sedangkan untuk shaft dengan link cukup menggunakan baut akrilik).
Penyambungan link OA dengan shaft harus berkebalikan 180o .
7. Menyambungkan link O’A dengan frame.
8. Menyambungkan dinamo dengan saklar dan baterai, setelah itu
dipasangkan di tempat yang telah dibuat sebelumnya.
9. Tapak kaki diberi stik ukuran 3 cm agar tidak jatuh saat menapak guna
mengurangi gaya gesek pada permukaan.

1
 Gambar 2.0.19 Prototipe Mekanisme Jansen

2.8 Pengujian Fungsi

Untuk dapat lulus dalam pengujian fungsi, terdapat beberapa kriteria yang harus
dipenuhi antara lain sebagai berikut:
1. Seluruh elemen pada robot Jansen telah tersusun
2. Motor mampu menggerakkan mekanisme dengan baik (rotasi shaft antara link dan
motor tidak terpuntir)

2.9 Pengujian Performa

Untuk dapat lulus dalam pengujian performa, terdapat beberapa kriteria yang harus
dipenuhi antara lain sebagai berikut:
1. Mampu berjalan dengan seimbang
2. Berjalan lurus
3. Kecepatan hasil analisis teori dengan praktik sesuai dengan yang didesain.

1
 BAB III
HASIL DAN ANALISIS

3.1 Lintasan Tapak Kaki

3.1.1 Lintasan Tapak Kaki
Berikut adalah perbandingan gambar lintasan tapak kaki robot (satu kaki) dengan
desain lintasan tapak kaki yang kami buat dalam grafik (x-y)

Perubahan posisi sumbu x dan sumbu y

60

40

20
Perubahan sumbu y

0
-120 -100 -80 -60 -40 -20 0 20

-20

-40

-60

-80

-100

Perubahan sumbu x

Gambar 3.0.20 Lintasan Tapak Kaki Robot (Satu Kaki) dalam Perhitungan Excel

1
 Gambar 3.2 Lintasan Tapak Kaki Robot (Satu Kaki) dalam Javalab
Gambar 3.0.21 Lintasan Tapak Kaki Robot (Satu Kaki) dalam Javalab
Dari hasil perhitungan menggunakan excel dan simulasi menggunakan JavaLab,
didapatkan lintasan tapak kaki seperti pada Gambar 3.1 dan 3.2 yang mana dari kedua
gambar tersebut terdapat sedikit perbedaan lintasan tapak kaki. Hal ini disebabkan
dalam membentuk desain pada JavaLab, ukurannya tidak bisa sepresisi ukuran yang
diinginkan pada desain (selisih ± 0,1 cmpada simulasi di JavaLab). Namun, dalam
praktiknya lintasan tapak kaki pada robot Jansen tidak menunjukkan perbedaan yang
jauh dari perhitungan excel dan JavaLab.
3.1.2 Analisis Posisi Titik A

Gambar 2.0.22 Analisis Posisi Titik A

Berikut persamaan untuk menentukan posisi setiap titik perubahan sudut
o
0 ≤ θ ≤360 :
Ax=LOA × cos ( θmotor )
Ay=LOA ×sin ( θmotor )
Dengan mengambil contoh posisi titik x di sudut 30o perhitungannya adalah
sebagai berikut:
o
θ=30 ; LOA=13 mm
Ax=LOA × cos ( θmotor )
Ax=13 mm× cos ( 30 o )
√3
Ax=13 mm× =11,2583 mm
2
Dengan mengambil contoh posisi titik y di sudut 30o perhitungannya adalah
sebagai berikut:
θ=30o ; LOA=13 mm
Ay=LOA ×sin ( θmotor )
Ay=13 mm ×sin ( 30 )
o

1
 1
Ay=13 mm × =6,5 mm
2
Berikut untuk hasil posisi titik A pada sb-x dan sb-y selengkapnya disajikan dalam
tabel berikut:

Tabel 1 Tabel Posisi Titik A Terhadap Posisi Link OA pada Sumbu x dan Sumbu y

1
Besar Perubahan Sudut Motor Sin Sudut link Motor Cos sudut link motor panjang link motor (AB) Ax Ay
360 -2,4503E-16 1 13 13 -3,18539E-15
359 -0,017452406 0,999847695 13 12,99802004 -0,226881284
358 -0,034899497 0,999390827 13 12,99208075 -0,453693457
357 -0,052335956 0,998629535 13 12,98218395 -0,680367431
356 -0,069756474 0,99756405 13 12,96833265 -0,906834159
355 -0,087155743 0,996194698 13 12,95053108 -1,133024656
354 -0,104528463 0,994521895 13 12,92878464 -1,358870022
353 -0,121869343 0,992546152 13 12,90309997 -1,584301464
352 -0,139173101 0,990268069 13 12,87348489 -1,809250312
351 -0,156434465 0,987688341 13 12,83994843 -2,033648046
350 -0,173648178 0,984807753 13 12,80250079 -2,25742631
349 -0,190808995 0,981627183 13 12,76115338 -2,48051694
348 -0,207911691 0,978147601 13 12,71591881 -2,702851981
347 -0,224951054 0,974370065 13 12,66681084 -2,924363706
346 -0,241921896 0,970295726 13 12,61384444 -3,144984643
345 -0,258819045 0,965925826 13 12,55703574 -3,364647586
344 -0,275637356 0,961261696 13 12,49640205 -3,583285626
343 -0,292371705 0,956304756 13 12,43196183 -3,800832161
342 -0,309016994 0,951056516 13 12,36373471 -4,017220927
341 -0,325568154 0,945518576 13 12,29174148 -4,232386008
340 -0,342020143 0,939692621 13 12,21600407 -4,446261863
339 -0,35836795 0,933580426 13 12,13654554 -4,658783344
338 -0,374606593 0,927183855 13 12,05339011 -4,869885714
337 -0,390731128 0,920504853 13 11,96656309 -5,07950467
336 -0,406736643 0,913545458 13 11,87609095 -5,28757636
335 -0,422618262 0,906307787 13 11,78200123 -5,494037403
334 -0,438371147 0,898794046 13 11,6843226 -5,698824908
333 -0,4539905 0,891006524 13 11,58308481 -5,901876497
332 -0,469471563 0,882947593 13 11,47831871 -6,103130316
331 -0,48480962 0,874619707 13 11,37005619 -6,302525063
330 -0,5 0,866025404 13 11,25833025 -6,5
329 -0,515038075 0,857167301 13 11,14317491 -6,695494974
328 -0,529919264 0,848048096 13 11,02462525 -6,888950435
327 -0,544639035 0,838670568 13 10,90271738 -7,080307455
326 -0,559192903 0,829037573 13 10,77748844 -7,269507745
325 -0,573576436 0,819152044 13 10,64897658 -7,456493673
324 -0,587785252 0,809016994 13 10,51722093 -7,64120828
323 -0,601815023 0,79863551 13 10,38226163 -7,823595301
322 -0,615661475 0,788010754 13 10,2441398 -8,003599179
321 -0,629320391 0,777145961 13 10,1028975 -8,181165084
320 -0,64278761 0,766044443 13 9,958577761 -8,356238926
319 -0,656059029 0,75470958 13 9,811224543 -8,528767377
318 -0,669130606 0,743144825 13 9,660882731 -8,698697883
317 -0,68199836 0,731353702 13 9,507598121 -8,865978681
316 -0,69465837 0,7193398 13 9,351417404 -9,030558816
315 -0,707106781 0,707106781 13 9,192388155 -9,192388155
314 -0,7193398 0,69465837 13 9,030558816 -9,351417404
313 -0,731353702 0,68199836 13 8,865978681 -9,507598121
312 -0,743144825 0,669130606 13 8,698697883 -9,660882731
311 -0,75470958 0,656059029 13 8,528767377 -9,811224543
310 -0,766044443 0,64278761 13 8,356238926 -9,958577761
309 -0,777145961 0,629320391 13 8,181165084 -10,1028975
308 -0,788010754 0,615661475 13 8,003599179 -10,2441398
307 -0,79863551 0,601815023 13 7,823595301 -10,38226163
306 -0,809016994 0,587785252 13 7,64120828 -10,51722093
305 -0,819152044 0,573576436 13 7,456493673 -10,64897658
304 -0,829037573 0,559192903 13 7,269507745 -10,77748844
303 -0,838670568 0,544639035 13 7,080307455 -10,90271738
302 -0,848048096 0,529919264 13 6,888950435 -11,02462525
301 -0,857167301 0,515038075 13 6,695494974 -11,14317491
300 -0,866025404 0,5 13 6,5 -11,25833025
299 -0,874619707 0,48480962 13 6,302525063 -11,37005619
298 -0,882947593 0,469471563 13 6,103130316 -11,47831871
297 -0,891006524 0,4539905 13 5,901876497 -11,58308481
296 -0,898794046 0,438371147 13 5,698824908 -11,6843226

1
295 -0,906307787 0,422618262 13 5,494037403 -11,78200123
294 -0,913545458 0,406736643 13 5,28757636 -11,87609095
293 -0,920504853 0,390731128 13 5,07950467 -11,96656309
292 -0,927183855 0,374606593 13 4,869885714 -12,05339011
291 -0,933580426 0,35836795 13 4,658783344 -12,13654554
290 -0,939692621 0,342020143 13 4,446261863 -12,21600407
289 -0,945518576 0,325568154 13 4,232386008 -12,29174148
288 -0,951056516 0,309016994 13 4,017220927 -12,36373471
287 -0,956304756 0,292371705 13 3,800832161 -12,43196183
286 -0,961261696 0,275637356 13 3,583285626 -12,49640205
285 -0,965925826 0,258819045 13 3,364647586 -12,55703574
284 -0,970295726 0,241921896 13 3,144984643 -12,61384444
283 -0,974370065 0,224951054 13 2,924363706 -12,66681084
282 -0,978147601 0,207911691 13 2,702851981 -12,71591881
281 -0,981627183 0,190808995 13 2,48051694 -12,76115338
280 -0,984807753 0,173648178 13 2,25742631 -12,80250079
279 -0,987688341 0,156434465 13 2,033648046 -12,83994843
278 -0,990268069 0,139173101 13 1,809250312 -12,87348489
277 -0,992546152 0,121869343 13 1,584301464 -12,90309997
276 -0,994521895 0,104528463 13 1,358870022 -12,92878464
275 -0,996194698 0,087155743 13 1,133024656 -12,95053108
274 -0,99756405 0,069756474 13 0,906834159 -12,96833265
273 -0,998629535 0,052335956 13 0,680367431 -12,98218395
272 -0,999390827 0,034899497 13 0,453693457 -12,99208075
271 -0,999847695 0,017452406 13 0,226881284 -12,99802004
270 -1 -1,83772E-16 13 -2,38904E-15 -13
269 -0,999847695 -0,017452406 13 -0,226881284 -12,99802004
268 -0,999390827 -0,034899497 13 -0,453693457 -12,99208075
267 -0,998629535 -0,052335956 13 -0,680367431 -12,98218395
266 -0,99756405 -0,069756474 13 -0,906834159 -12,96833265
265 -0,996194698 -0,087155743 13 -1,133024656 -12,95053108
264 -0,994521895 -0,104528463 13 -1,358870022 -12,92878464
263 -0,992546152 -0,121869343 13 -1,584301464 -12,90309997
262 -0,990268069 -0,139173101 13 -1,809250312 -12,87348489
261 -0,987688341 -0,156434465 13 -2,033648046 -12,83994843
260 -0,984807753 -0,173648178 13 -2,25742631 -12,80250079
259 -0,981627183 -0,190808995 13 -2,48051694 -12,76115338
258 -0,978147601 -0,207911691 13 -2,702851981 -12,71591881
257 -0,974370065 -0,224951054 13 -2,924363706 -12,66681084
256 -0,970295726 -0,241921896 13 -3,144984643 -12,61384444
255 -0,965925826 -0,258819045 13 -3,364647586 -12,55703574
254 -0,961261696 -0,275637356 13 -3,583285626 -12,49640205
253 -0,956304756 -0,292371705 13 -3,800832161 -12,43196183
252 -0,951056516 -0,309016994 13 -4,017220927 -12,36373471
251 -0,945518576 -0,325568154 13 -4,232386008 -12,29174148
250 -0,939692621 -0,342020143 13 -4,446261863 -12,21600407
249 -0,933580426 -0,35836795 13 -4,658783344 -12,13654554
248 -0,927183855 -0,374606593 13 -4,869885714 -12,05339011
247 -0,920504853 -0,390731128 13 -5,07950467 -11,96656309
246 -0,913545458 -0,406736643 13 -5,28757636 -11,87609095
245 -0,906307787 -0,422618262 13 -5,494037403 -11,78200123
244 -0,898794046 -0,438371147 13 -5,698824908 -11,6843226
243 -0,891006524 -0,4539905 13 -5,901876497 -11,58308481
242 -0,882947593 -0,469471563 13 -6,103130316 -11,47831871
241 -0,874619707 -0,48480962 13 -6,302525063 -11,37005619
240 -0,866025404 -0,5 13 -6,5 -11,25833025
239 -0,857167301 -0,515038075 13 -6,695494974 -11,14317491
238 -0,848048096 -0,529919264 13 -6,888950435 -11,02462525
237 -0,838670568 -0,544639035 13 -7,080307455 -10,90271738
236 -0,829037573 -0,559192903 13 -7,269507745 -10,77748844
235 -0,819152044 -0,573576436 13 -7,456493673 -10,64897658
234 -0,809016994 -0,587785252 13 -7,64120828 -10,51722093
233 -0,79863551 -0,601815023 13 -7,823595301 -10,38226163
232 -0,788010754 -0,615661475 13 -8,003599179 -10,2441398
231 -0,777145961 -0,629320391 13 -8,181165084 -10,1028975

1
230 -0,766044443 -0,64278761 13 -8,356238926 -9,958577761
229 -0,75470958 -0,656059029 13 -8,528767377 -9,811224543
228 -0,743144825 -0,669130606 13 -8,698697883 -9,660882731
227 -0,731353702 -0,68199836 13 -8,865978681 -9,507598121
226 -0,7193398 -0,69465837 13 -9,030558816 -9,351417404
225 -0,707106781 -0,707106781 13 -9,192388155 -9,192388155
224 -0,69465837 -0,7193398 13 -9,351417404 -9,030558816
223 -0,68199836 -0,731353702 13 -9,507598121 -8,865978681
222 -0,669130606 -0,743144825 13 -9,660882731 -8,698697883
221 -0,656059029 -0,75470958 13 -9,811224543 -8,528767377
220 -0,64278761 -0,766044443 13 -9,958577761 -8,356238926
219 -0,629320391 -0,777145961 13 -10,1028975 -8,181165084
218 -0,615661475 -0,788010754 13 -10,2441398 -8,003599179
217 -0,601815023 -0,79863551 13 -10,38226163 -7,823595301
216 -0,587785252 -0,809016994 13 -10,51722093 -7,64120828
215 -0,573576436 -0,819152044 13 -10,64897658 -7,456493673
214 -0,559192903 -0,829037573 13 -10,77748844 -7,269507745
213 -0,544639035 -0,838670568 13 -10,90271738 -7,080307455
212 -0,529919264 -0,848048096 13 -11,02462525 -6,888950435
211 -0,515038075 -0,857167301 13 -11,14317491 -6,695494974
210 -0,5 -0,866025404 13 -11,25833025 -6,5
209 -0,48480962 -0,874619707 13 -11,37005619 -6,302525063
208 -0,469471563 -0,882947593 13 -11,47831871 -6,103130316
207 -0,4539905 -0,891006524 13 -11,58308481 -5,901876497
206 -0,438371147 -0,898794046 13 -11,6843226 -5,698824908
205 -0,422618262 -0,906307787 13 -11,78200123 -5,494037403
204 -0,406736643 -0,913545458 13 -11,87609095 -5,28757636
203 -0,390731128 -0,920504853 13 -11,96656309 -5,07950467
202 -0,374606593 -0,927183855 13 -12,05339011 -4,869885714
201 -0,35836795 -0,933580426 13 -12,13654554 -4,658783344
200 -0,342020143 -0,939692621 13 -12,21600407 -4,446261863
199 -0,325568154 -0,945518576 13 -12,29174148 -4,232386008
198 -0,309016994 -0,951056516 13 -12,36373471 -4,017220927
197 -0,292371705 -0,956304756 13 -12,43196183 -3,800832161
196 -0,275637356 -0,961261696 13 -12,49640205 -3,583285626
195 -0,258819045 -0,965925826 13 -12,55703574 -3,364647586
194 -0,241921896 -0,970295726 13 -12,61384444 -3,144984643
193 -0,224951054 -0,974370065 13 -12,66681084 -2,924363706
192 -0,207911691 -0,978147601 13 -12,71591881 -2,702851981
191 -0,190808995 -0,981627183 13 -12,76115338 -2,48051694
190 -0,173648178 -0,984807753 13 -12,80250079 -2,25742631
189 -0,156434465 -0,987688341 13 -12,83994843 -2,033648046
188 -0,139173101 -0,990268069 13 -12,87348489 -1,809250312
187 -0,121869343 -0,992546152 13 -12,90309997 -1,584301464
186 -0,104528463 -0,994521895 13 -12,92878464 -1,358870022
185 -0,087155743 -0,996194698 13 -12,95053108 -1,133024656
184 -0,069756474 -0,99756405 13 -12,96833265 -0,906834159
183 -0,052335956 -0,998629535 13 -12,98218395 -0,680367431
182 -0,034899497 -0,999390827 13 -12,99208075 -0,453693457
181 -0,017452406 -0,999847695 13 -12,99802004 -0,226881284
180 1,22515E-16 -1 13 -13 1,59269E-15
179 0,017452406 -0,999847695 13 -12,99802004 0,226881284
178 0,034899497 -0,999390827 13 -12,99208075 0,453693457
177 0,052335956 -0,998629535 13 -12,98218395 0,680367431
176 0,069756474 -0,99756405 13 -12,96833265 0,906834159
175 0,087155743 -0,996194698 13 -12,95053108 1,133024656
174 0,104528463 -0,994521895 13 -12,92878464 1,358870022
173 0,121869343 -0,992546152 13 -12,90309997 1,584301464
172 0,139173101 -0,990268069 13 -12,87348489 1,809250312
171 0,156434465 -0,987688341 13 -12,83994843 2,033648046
170 0,173648178 -0,984807753 13 -12,80250079 2,25742631
169 0,190808995 -0,981627183 13 -12,76115338 2,48051694
168 0,207911691 -0,978147601 13 -12,71591881 2,702851981
167 0,224951054 -0,974370065 13 -12,66681084 2,924363706

1
166 0,241921896 -0,970295726 13 -12,61384444 3,144984643
165 0,258819045 -0,965925826 13 -12,55703574 3,364647586
164 0,275637356 -0,961261696 13 -12,49640205 3,583285626
163 0,292371705 -0,956304756 13 -12,43196183 3,800832161
162 0,309016994 -0,951056516 13 -12,36373471 4,017220927
161 0,325568154 -0,945518576 13 -12,29174148 4,232386008
160 0,342020143 -0,939692621 13 -12,21600407 4,446261863
159 0,35836795 -0,933580426 13 -12,13654554 4,658783344
158 0,374606593 -0,927183855 13 -12,05339011 4,869885714
157 0,390731128 -0,920504853 13 -11,96656309 5,07950467
156 0,406736643 -0,913545458 13 -11,87609095 5,28757636
155 0,422618262 -0,906307787 13 -11,78200123 5,494037403
154 0,438371147 -0,898794046 13 -11,6843226 5,698824908
153 0,4539905 -0,891006524 13 -11,58308481 5,901876497
152 0,469471563 -0,882947593 13 -11,47831871 6,103130316
151 0,48480962 -0,874619707 13 -11,37005619 6,302525063
150 0,5 -0,866025404 13 -11,25833025 6,5
149 0,515038075 -0,857167301 13 -11,14317491 6,695494974
148 0,529919264 -0,848048096 13 -11,02462525 6,888950435
147 0,544639035 -0,838670568 13 -10,90271738 7,080307455
146 0,559192903 -0,829037573 13 -10,77748844 7,269507745
145 0,573576436 -0,819152044 13 -10,64897658 7,456493673
144 0,587785252 -0,809016994 13 -10,51722093 7,64120828
143 0,601815023 -0,79863551 13 -10,38226163 7,823595301
142 0,615661475 -0,788010754 13 -10,2441398 8,003599179
141 0,629320391 -0,777145961 13 -10,1028975 8,181165084
140 0,64278761 -0,766044443 13 -9,958577761 8,356238926
139 0,656059029 -0,75470958 13 -9,811224543 8,528767377
138 0,669130606 -0,743144825 13 -9,660882731 8,698697883
137 0,68199836 -0,731353702 13 -9,507598121 8,865978681
136 0,69465837 -0,7193398 13 -9,351417404 9,030558816
135 0,707106781 -0,707106781 13 -9,192388155 9,192388155
134 0,7193398 -0,69465837 13 -9,030558816 9,351417404
133 0,731353702 -0,68199836 13 -8,865978681 9,507598121
132 0,743144825 -0,669130606 13 -8,698697883 9,660882731
131 0,75470958 -0,656059029 13 -8,528767377 9,811224543
130 0,766044443 -0,64278761 13 -8,356238926 9,958577761
129 0,777145961 -0,629320391 13 -8,181165084 10,1028975
128 0,788010754 -0,615661475 13 -8,003599179 10,2441398
127 0,79863551 -0,601815023 13 -7,823595301 10,38226163
126 0,809016994 -0,587785252 13 -7,64120828 10,51722093
125 0,819152044 -0,573576436 13 -7,456493673 10,64897658
124 0,829037573 -0,559192903 13 -7,269507745 10,77748844
123 0,838670568 -0,544639035 13 -7,080307455 10,90271738
122 0,848048096 -0,529919264 13 -6,888950435 11,02462525
121 0,857167301 -0,515038075 13 -6,695494974 11,14317491
120 0,866025404 -0,5 13 -6,5 11,25833025
119 0,874619707 -0,48480962 13 -6,302525063 11,37005619
118 0,882947593 -0,469471563 13 -6,103130316 11,47831871
117 0,891006524 -0,4539905 13 -5,901876497 11,58308481
116 0,898794046 -0,438371147 13 -5,698824908 11,6843226
115 0,906307787 -0,422618262 13 -5,494037403 11,78200123
114 0,913545458 -0,406736643 13 -5,28757636 11,87609095
113 0,920504853 -0,390731128 13 -5,07950467 11,96656309
112 0,927183855 -0,374606593 13 -4,869885714 12,05339011
111 0,933580426 -0,35836795 13 -4,658783344 12,13654554
110 0,939692621 -0,342020143 13 -4,446261863 12,21600407
109 0,945518576 -0,325568154 13 -4,232386008 12,29174148
108 0,951056516 -0,309016994 13 -4,017220927 12,36373471
107 0,956304756 -0,292371705 13 -3,800832161 12,43196183
106 0,961261696 -0,275637356 13 -3,583285626 12,49640205
105 0,965925826 -0,258819045 13 -3,364647586 12,55703574
104 0,970295726 -0,241921896 13 -3,144984643 12,61384444
103 0,974370065 -0,224951054 13 -2,924363706 12,66681084
102 0,978147601 -0,207911691 13 -2,702851981 12,71591881
101 0,981627183 -0,190808995 13 -2,48051694 12,76115338
100 0,984807753 -0,173648178 13 -2,25742631 12,80250079
99 0,987688341 -0,156434465 13 -2,033648046 12,83994843
98 0,990268069 -0,139173101 13 -1,809250312 12,87348489
97 0,992546152 -0,121869343 13 -1,584301464 12,90309997
96 0,994521895 -0,104528463 13 -1,358870022 12,92878464

1
95 0,996194698 -0,087155743 13 -1,133024656 12,95053108
94 0,99756405 -0,069756474 13 -0,906834159 12,96833265
93 0,998629535 -0,052335956 13 -0,680367431 12,98218395
92 0,999390827 -0,034899497 13 -0,453693457 12,99208075
91 0,999847695 -0,017452406 13 -0,226881284 12,99802004
90 1 6,12574E-17 13 7,96346E-16 13
89 0,999847695 0,017452406 13 0,226881284 12,99802004
88 0,999390827 0,034899497 13 0,453693457 12,99208075
87 0,998629535 0,052335956 13 0,680367431 12,98218395
86 0,99756405 0,069756474 13 0,906834159 12,96833265
85 0,996194698 0,087155743 13 1,133024656 12,95053108
84 0,994521895 0,104528463 13 1,358870022 12,92878464
83 0,992546152 0,121869343 13 1,584301464 12,90309997
82 0,990268069 0,139173101 13 1,809250312 12,87348489
81 0,987688341 0,156434465 13 2,033648046 12,83994843
80 0,984807753 0,173648178 13 2,25742631 12,80250079
79 0,981627183 0,190808995 13 2,48051694 12,76115338
78 0,978147601 0,207911691 13 2,702851981 12,71591881
77 0,974370065 0,224951054 13 2,924363706 12,66681084
76 0,970295726 0,241921896 13 3,144984643 12,61384444
75 0,965925826 0,258819045 13 3,364647586 12,55703574
74 0,961261696 0,275637356 13 3,583285626 12,49640205
73 0,956304756 0,292371705 13 3,800832161 12,43196183
72 0,951056516 0,309016994 13 4,017220927 12,36373471
71 0,945518576 0,325568154 13 4,232386008 12,29174148
70 0,939692621 0,342020143 13 4,446261863 12,21600407
69 0,933580426 0,35836795 13 4,658783344 12,13654554
68 0,927183855 0,374606593 13 4,869885714 12,05339011
67 0,920504853 0,390731128 13 5,07950467 11,96656309
66 0,913545458 0,406736643 13 5,28757636 11,87609095
65 0,906307787 0,422618262 13 5,494037403 11,78200123
64 0,898794046 0,438371147 13 5,698824908 11,6843226
63 0,891006524 0,4539905 13 5,901876497 11,58308481
62 0,882947593 0,469471563 13 6,103130316 11,47831871
61 0,874619707 0,48480962 13 6,302525063 11,37005619
60 0,866025404 0,5 13 6,5 11,25833025
59 0,857167301 0,515038075 13 6,695494974 11,14317491
58 0,848048096 0,529919264 13 6,888950435 11,02462525
57 0,838670568 0,544639035 13 7,080307455 10,90271738
56 0,829037573 0,559192903 13 7,269507745 10,77748844
55 0,819152044 0,573576436 13 7,456493673 10,64897658
54 0,809016994 0,587785252 13 7,64120828 10,51722093
53 0,79863551 0,601815023 13 7,823595301 10,38226163
52 0,788010754 0,615661475 13 8,003599179 10,2441398
51 0,777145961 0,629320391 13 8,181165084 10,1028975
50 0,766044443 0,64278761 13 8,356238926 9,958577761
49 0,75470958 0,656059029 13 8,528767377 9,811224543
48 0,743144825 0,669130606 13 8,698697883 9,660882731
47 0,731353702 0,68199836 13 8,865978681 9,507598121
46 0,7193398 0,69465837 13 9,030558816 9,351417404
45 0,707106781 0,707106781 13 9,192388155 9,192388155
44 0,69465837 0,7193398 13 9,351417404 9,030558816
43 0,68199836 0,731353702 13 9,507598121 8,865978681
42 0,669130606 0,743144825 13 9,660882731 8,698697883
41 0,656059029 0,75470958 13 9,811224543 8,528767377
40 0,64278761 0,766044443 13 9,958577761 8,356238926
39 0,629320391 0,777145961 13 10,1028975 8,181165084
38 0,615661475 0,788010754 13 10,2441398 8,003599179
37 0,601815023 0,79863551 13 10,38226163 7,823595301
36 0,587785252 0,809016994 13 10,51722093 7,64120828
35 0,573576436 0,819152044 13 10,64897658 7,456493673
34 0,559192903 0,829037573 13 10,77748844 7,269507745
33 0,544639035 0,838670568 13 10,90271738 7,080307455
32 0,529919264 0,848048096 13 11,02462525 6,888950435
31 0,515038075 0,857167301 13 11,14317491 6,695494974
30 0,5 0,866025404 13 11,25833025 6,5
29 0,48480962 0,874619707 13 11,37005619 6,302525063

1
 28 0,469471563 0,882947593 13 11,47831871 6,103130316
27 0,4539905 0,891006524 13 11,58308481 5,901876497
26 0,438371147 0,898794046 13 11,6843226 5,698824908
25 0,422618262 0,906307787 13 11,78200123 5,494037403
24 0,406736643 0,913545458 13 11,87609095 5,28757636
23 0,390731128 0,920504853 13 11,96656309 5,07950467
22 0,374606593 0,927183855 13 12,05339011 4,869885714
21 0,35836795 0,933580426 13 12,13654554 4,658783344
20 0,342020143 0,939692621 13 12,21600407 4,446261863
19 0,325568154 0,945518576 13 12,29174148 4,232386008
18 0,309016994 0,951056516 13 12,36373471 4,017220927
17 0,292371705 0,956304756 13 12,43196183 3,800832161
16 0,275637356 0,961261696 13 12,49640205 3,583285626
15 0,258819045 0,965925826 13 12,55703574 3,364647586
14 0,241921896 0,970295726 13 12,61384444 3,144984643
13 0,224951054 0,974370065 13 12,66681084 2,924363706
12 0,207911691 0,978147601 13 12,71591881 2,702851981
11 0,190808995 0,981627183 13 12,76115338 2,48051694
10 0,173648178 0,984807753 13 12,80250079 2,25742631
9 0,156434465 0,987688341 13 12,83994843 2,033648046
8 0,139173101 0,990268069 13 12,87348489 1,809250312
7 0,121869343 0,992546152 13 12,90309997 1,584301464
6 0,104528463 0,994521895 13 12,92878464 1,358870022
5 0,087155743 0,996194698 13 12,95053108 1,133024656
4 0,069756474 0,99756405 13 12,96833265 0,906834159
3 0,052335956 0,998629535 13 12,98218395 0,680367431
2 0,034899497 0,999390827 13 12,99208075 0,453693457
1 0,017452406 0,999847695 13 12,99802004 0,226881284
0 0 1 13 13 0

Setelah dihitung semua posisi link pada perubahan sudut 0<θ <360 didapatkan grafik sebagai
berikut:

Gambar 3.0.23 Grafik Perubahan Sudut Motor terhadap Posisi Link OA pada Sumbu-x

1
Gambar 3.0.24 Grafik Perubahan Sudut Motor terhadap Posisi Link OA pada Sumbu-y

Perubahan posisi sumbu x dan sumbu y

link OA
15
Perubahan posisi sumbu y

10
5
0
-15 -10 -5 0 5 10 15
-5
-10
-15
Perubahan posisi sumbu x

Gambar 3.0.25 Grafik Perubahan Posisi Sumbu-x dan Sumbu-y pada Link OA

3.1.3 Analisis Posisi Titik B

Berikut ini hasil analisis posisi titik B dengan mengambil perubahan sudut 30o

Gambar 3.0.26 Analisis Posisi Titik B

L O' A 2=LO O' 2+ LO A2−2 LO O' . LOA . cos ⁡(18 0o−θ motor )
' 2 2 2 o o
L O A =58 +13 −2.58.13 . cos ⁡(18 0 −30 )
L O' A= √ LO O' 2+ LO A 2−2 LO O' . LOA . cos ⁡(18 0o−θ motor )

1
 L O' A= √582 +132 −2.58.13 . cos ⁡(18 0o −30o )
sinβ sin θmotor
=
LOA LO ' A
sinβ (30¿¿ o)
=sin ¿
13 69,56
sin θmotor
sinβ=LOA ×
LO ' A
sin ⁡(30)
sinβ=13 ×
69,56

β=sin (
−1 LOA ×sin θ motor
LO ' A )
β=sin−1 ( 1369,56
× sin 30
)
O
β=5,36
2 2 2 '
LO β =L OA + LA B −2 LO A . LAB . cosα
2 2 2
44 =13 +73 −25.58.73 . cosα
2 2 2
L OA + LA B −LO ' B
cosα= '
2 LO A . LAB
2 2 2
13 +73 −44
cosα=
2.50,63 .73

α =cos
−1
( LOA 2 + LA B2−LO ' B 2
2 LO' A . LAB )
( )
2 2 2
13 +73 −44
α =cos−1
2.58 .73
o
α =35,81
sinγ sinα
=
LAB LO ' B
sinγ sin ⁡( 24)
=
73 LO ' B
sin ⁡(24 )×73
sinγ=
44
sinα × LAB
sinγ=
LO ' B
γ=sin (
−1 sinα × LAB
LO ' B )
γ=sin−1 ( sin ⁡(2444)×73 )
o
θAB=α−β γ =76 , 337
θAB=35,81−5,36
B X =− A X + LAB×cos θ AB
B X =−11,2583+73 ×cos ⁡(30,489) = -51,647 mm

1
 BY = A y + LAB ×sin θ AB
BY =6,5+73 ×sin ⁡(30,489)= 43,53 mm

Berikut untuk hasil lengkapnya disajikan dalam tabel berikut dengan sudut
0<θ <360

Tabel 2 Tabel Hasil Perhitungan Analisis Titik B pada Tiap Perubahan Sudut Pada Sumbu-x
dan Sumbu-y

1
Jarak antar joint (L OO') panjang link AB panjang O'B panjang L O'A sudut beta Nilai Cos alfa pada Nilai derajat alfa (derajat) Nilai QAB (alfa kurang beta) BX BY
58 73 44 71 -2,57055E-15 0,813621455 35,54871837 35,54871837 -46,3943662 42,44183
58 73 44 70,99838255 -0,183093779 0,813617833 35,54907527 35,73216905 -46,2601509 42,4049
58 73 44 70,99353046 -0,366158678 0,813606971 35,55014569 35,91630437 -46,12877575 42,36831
58 73 44 70,98544455 -0,549165811 0,813588876 35,5519288 36,10109462 -46,00025585 42,33209
58 73 44 70,97412619 -0,732086277 0,813563562 35,5544232 36,28650948 -45,87460593 42,29627
58 73 44 70,95957726 -0,914891156 0,813531047 35,55762694 36,47251809 -45,75184038 42,26089
58 73 44 70,94180022 -1,097551497 0,813491355 35,56153749 36,65908898 -45,63197328 42,22596
58 73 44 70,92079805 -1,280038316 0,813444516 35,56615179 36,84619011 -45,51501836 42,19153
58 73 44 70,8965743 -1,462322587 0,813390562 35,57146622 37,03378881 -45,40098907 42,15762
58 73 44 70,86913304 -1,644375235 0,813329535 35,5774766 37,22185184 -45,28989858 42,12426
58 73 44 70,83847889 -1,826167128 0,813261479 35,5841782 37,41034533 -45,18175981 42,09148
58 73 44 70,80461703 -2,007669071 0,813186444 35,59156574 37,59923481 -45,07658542 42,05931
58 73 44 70,76755317 -2,188851802 0,813104486 35,59963337 37,78848517 -44,97438785 42,02777
58 73 44 70,72729358 -2,369685978 0,813015665 35,60837473 37,97806071 -44,87517932 41,99689
58 73 44 70,68384508 -2,550142175 0,812920048 35,61778289 38,16792507 -44,77897187 41,96671
58 73 44 70,63721502 -2,730190877 0,812817706 35,62785038 38,35804126 -44,68577738 41,93723
58 73 44 70,58741132 -2,909802469 0,812708715 35,6385692 38,54837167 -44,59560755 41,9085
58 73 44 70,53444245 -3,088947232 0,812593157 35,6499308 38,73887804 -44,50847394 41,88053
58 73 44 70,47831742 -3,267595336 0,812471119 35,66192611 38,92952145 -44,42438802 41,85335
58 73 44 70,4190458 -3,445716831 0,812342694 35,67454551 39,12026234 -44,34336113 41,82698
58 73 44 70,35663773 -3,623281641 0,812207977 35,68777886 39,3110605 -44,26540453 41,80145
58 73 44 70,29110387 -3,800259557 0,812067073 35,70161551 39,50187507 -44,19052942 41,77677
58 73 44 70,22245547 -3,97662023 0,811920089 35,71604427 39,6926645 -44,11874693 41,75297
58 73 44 70,15070434 -4,152333165 0,811767137 35,73105344 39,8833866 -44,05006818 41,73008
58 73 44 70,07586282 -4,327367713 0,811608336 35,74663081 40,07399852 -43,98450425 41,7081
58 73 44 69,99794385 -4,501693062 0,81144381 35,76276365 40,26445671 -43,92206623 41,68707
58 73 44 69,9169609 -4,675278234 0,811273686 35,77943874 40,45471698 -43,86276523 41,667
58 73 44 69,83292804 -4,848092077 0,811098097 35,79664236 40,64473443 -43,80661239 41,6479
58 73 44 69,74585988 -5,020103256 0,810917183 35,81436027 40,83446353 -43,75361889 41,6298
58 73 44 69,65577161 -5,191280248 0,810731087 35,83257778 41,02385802 -43,70379598 41,61272
58 73 44 69,56267899 -5,361591334 0,810539958 35,85127967 41,21287101 -43,65715498 41,59667
58 73 44 69,46659837 -5,531004592 0,810343948 35,87045028 41,40145488 -43,61370732 41,58166
58 73 44 69,36754666 -5,699487893 0,810143218 35,89007346 41,58956135 -43,57346453 41,56772
58 73 44 69,26554134 -5,867008889 0,80993793 35,91013257 41,77714146 -43,53643825 41,55485
58 73 44 69,16060048 -6,033535012 0,809728253 35,93061053 41,96414555 -43,50264029 41,54307
58 73 44 69,05274276 -6,199033463 0,80951436 35,95148981 42,15052327 -43,47208259 41,53239
58 73 44 68,94198741 -6,363471208 0,80929643 35,9727524 42,33622361 -43,44477724 41,52283
58 73 44 68,82835425 -6,526814967 0,809074646 35,99437987 42,52119484 -43,42073654 41,5144
58 73 44 68,71186372 -6,689031214 0,808849196 36,01635334 42,70538455 -43,39997296 41,5071
58 73 44 68,59253684 -6,850086165 0,808620272 36,03865349 42,88873965 -43,38249918 41,50095
58 73 44 68,47039521 -7,009945775 0,808388073 36,06126058 43,07120636 -43,36832808 41,49595
58 73 44 68,34546106 -7,168575728 0,808152799 36,08415447 43,2527302 -43,35747278 41,49212
58 73 44 68,2177572 -7,325941435 0,807914658 36,10731458 43,43325601 -43,34994662 41,48947
58 73 44 68,08730706 -7,482008022 0,807673862 36,13071994 43,61272796 -43,34576319 41,48799
58 73 44 67,95413467 -7,636740333 0,807430625 36,15434918 43,79108951 -43,34493635 41,4877
58 73 44 67,81826469 -7,790102912 0,807185169 36,17818054 43,96828346 -43,34748019 41,4886
58 73 44 67,67972239 -7,942060008 0,806937717 36,2021919 44,1442519 -43,35340908 41,49069
58 73 44 67,53853365 -8,092575562 0,8066885 36,22636072 44,31893628 -43,36273769 41,49398
58 73 44 67,39472497 -8,241613205 0,80643775 36,25066415 44,49227735 -43,37548093 41,49848
58 73 44 67,24832352 -8,389136252 0,806185705 36,27507894 44,66421519 -43,39165403 41,50417
58 73 44 67,09935704 -8,535107692 0,805932606 36,29958152 44,83468921 -43,4112725 41,51107
58 73 44 66,94785396 -8,679490193 0,8056787 36,32414798 45,00363817 -43,43435214 41,51918
58 73 44 66,79384332 -8,822246085 0,805424235 36,34875407 45,17100016 -43,46090908 41,52848
58 73 44 66,6373548 -8,963337363 0,805169466 36,37337524 45,3367126 -43,4909597 41,53899
58 73 44 66,47841876 -9,102725681 0,80491465 36,39798661 45,50071229 -43,52452072 41,5507
58 73 44 66,31706617 -9,240372345 0,804660047 36,42256301 45,66293536 -43,56160915 41,5636
58 73 44 66,1533287 -9,376238312 0,804405923 36,447079 45,82331732 -43,60224231 41,57769
58 73 44 65,98723865 -9,510284184 0,804152545 36,47150885 45,98179304 -43,64643778 41,59297
58 73 44 65,818829 -9,642470204 0,803900185 36,49582656 46,13829677 -43,69421348 41,60943
58 73 44 65,64813339 -9,772756257 0,803649118 36,5200059 46,29276215 -43,7455876 41,62706
58 73 44 65,47518614 -9,901101859 0,803399621 36,54402036 46,44512222 -43,8005786 41,64585
58 73 44 65,30002226 -10,02746616 0,803151975 36,56784324 46,5953094 -43,85920524 41,66579
58 73 44 65,12267744 -10,15180795 0,802906463 36,59144762 46,74325557 -43,92148654 41,68687
58 73 44 64,94318805 -10,27408563 0,802663372 36,61480636 46,88889199 -43,98744175 41,70909
58 73 44 64,76159116 -10,39425724 0,802422991 36,63789215 47,03214939 -44,05709039 41,73242
58 73 44 64,57792455 -10,51228045 0,80218561 36,66067751 47,17295796 -44,13045222 41,75686
58 73 44 64,39222669 -10,62811254 0,801951523 36,68313479 47,31124733 -44,20754718 41,78239
58 73 44 64,20453677 -10,74171043 0,801721025 36,7052362 47,44694664 -44,28839543 41,80899
58 73 44 64,0148947 -10,85303067 0,801494413 36,72695384 47,57998451 -44,37301733 41,83665
58 73 44 63,82334109 -10,96202941 0,801271986 36,7482597 47,7102891 -44,46143334 41,86535
58 73 44 63,6299173 -11,06866245 0,801054044 36,76912565 47,8377881 -44,55366412 41,89506
58 73 44 63,43466542 -11,17288523 0,800840888 36,78952352 47,96240875 -44,6497304 41,92577
58 73 44 63,23762826 -11,2746528 0,800632822 36,80942508 48,08407788 -44,749653 41,95746
58 73 44 63,03884938 -11,37391986 0,800430146 36,82880207 48,20272193 -44,85345282 41,9901
58 73 44 62,83837309 -11,47064075 0,800233166 36,84762619 48,31826694 -44,96115074 42,02366
58 73 44 62,63624446 -11,56476944 0,800042184 36,86586919 48,43063864 -45,07276767 42,05813
58 73 44 62,43250931 -11,65625959 0,799857504 36,88350282 48,53976242 -45,18832445 42,09348
58 73 44 62,22721422 -11,74506449 0,79967943 36,9004989 48,64556339 -45,30784184 42,12967
58 73 44 62,02040656 -11,8311371 0,799508264 36,91682932 48,74796642 -45,43134048 42,16668

1
58 73 44 61,81213445 -11,91443007 0,799344308 36,93246607 48,84689614 -45,55884082 42,20447
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58 73 44 46,09946547 -5,800177473 0,819871141 34,92810346 40,72828094 -67,45684863 42,97171
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58 73 44 45,02295705 -0,865861967 0,824551444 34,45695903 35,322821 -72,54342151 41,52697
58 73 44 45,01020587 -0,577539249 0,824610337 34,45099463 35,02853388 -72,76932035 41,44716

1
58 73 44 45 2,02788E-15 0,824657534 34,4462141 34,4462141 -73,2 41,29116
58 73 44 45,00255188 0,288859065 0,824645728 34,44740998 34,15855091 -73,40456971 41,21528
58 73 44 45,01020587 0,577539249 0,824610337 34,45099463 33,87345538 -73,60183414 41,14101
58 73 44 45,02295705 0,865861967 0,824551444 34,45695903 33,59109706 -73,79171099 41,0685
58 73 44 45,0407972 1,153649229 0,824469186 34,46528823 33,311639 -73,97412724 40,99789
58 73 44 45,06371484 1,440723933 0,824363754 34,47596137 33,03523744 -74,14901902 40,92932
58 73 44 45,00255188 -0,288859065 0,824645728 34,44740998 34,73626905 -72,98821658 41,36851
58 73 44 45,09169526 1,726910157 0,824235392 34,48895183 32,76204167 -74,3163315 40,86291
58 73 44 45,12472053 2,012033441 0,824084397 34,50422729 32,49219385 -74,47601879 40,79878
58 73 44 45,16276954 2,295921072 0,823911117 34,52174994 32,22582886 -74,62804369 40,73706
58 73 44 45,20581801 2,578402351 0,823715949 34,5414766 31,96307425 -74,77237756 40,67785
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58 73 44 45,56735513 4,234516488 0,8221134 34,70308381 30,46856732 -75,47628092 40,38044
58 73 44 45,64446694 4,50259639 0,821779954 34,73662701 30,23403062 -75,56664148 40,34121
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58 73 44 47,33277628 8,132094946 0,815183003 35,39453913 27,26244418 -76,03416511 40,13439
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58 73 44 47,93452532 8,949032533 0,81314095 35,59604417 26,64701164 -75,89539444 40,19645
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58 73 44 48,9376946 10,03664948 0,810073645 35,8968726 25,86022312 -75,5010634 40,3697
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58 73 44 49,47964815 10,51602772 0,808584224 36,04216402 25,5261363 -75,22580028 40,48792
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58 73 44 50,04544408 10,95157581 0,807149475 36,18164491 25,23006911 -74,90203249 40,62415
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58 73 44 51,44530921 11,79642551 0,804101672 36,47641215 24,67998664 -73,97295631 40,99835
58 73 44 51,65313867 11,89760039 0,803707573 36,51437754 24,61677715 -73,82182854 41,05691
58 73 44 51,86267542 11,99393713 0,803324984 36,55120166 24,55726453 -73,66639125 41,11647
58 73 44 52,07383542 12,08545597 0,80295423 36,58685619 24,50140022 -73,5067404 41,17695
58 73 44 52,28653507 12,17217952 0,80259561 36,62131541 24,44913589 -73,34297142 41,23825
58 73 44 52,50069126 12,25413255 0,802249396 36,65455613 24,40042358 -73,17517927 41,30029
58 73 44 52,71622141 12,33134197 0,801915833 36,68655765 24,35521569 -73,00345836 41,36298
58 73 44 52,93304349 12,40383663 0,801595142 36,71730171 24,31346508 -72,82790259 41,42624
58 73 44 53,15107603 12,47164728 0,801287517 36,74677237 24,27512509 -72,64860532 41,48998
58 73 44 53,37023821 12,53480643 0,800993127 36,77495603 24,2401496 -72,46565934 41,55412
58 73 44 53,59044981 12,59334825 0,80071212 36,80184129 24,20849305 -72,27915692 41,61857
58 73 44 53,81163128 12,64730844 0,800444616 36,82741891 24,18011047 -72,08918975 41,68327
58 73 44 54,03370376 12,6967242 0,800190716 36,85168176 24,15495755 -71,89584899 41,74812
58 73 44 54,25658908 12,74163408 0,799950496 36,87462469 24,13299062 -71,6992252 41,81305
58 73 44 54,48020978 12,78207787 0,799724011 36,89624455 24,11416668 -71,4994084 41,87799
58 73 44 54,70448914 12,81809659 0,799511297 36,91654003 24,09844344 -71,29648806 41,94286
58 73 44 54,92935121 12,8497323 0,799312367 36,93551164 24,08577934 -71,09055305 42,00759
58 73 44 55,15472077 12,87702812 0,799127217 36,95316164 24,07613352 -70,8816917 42,0721
58 73 44 55,3805234 12,90002806 0,798955822 36,96949394 24,06946588 -70,66999177 42,13634
58 73 44 55,60668547 12,918777 0,79879814 36,98451407 24,06573707 -70,45554047 42,20023
58 73 44 55,83313414 12,93332059 0,798654111 36,99822906 24,06490847 -70,23842443 42,26371
58 73 44 56,05979736 12,9437052 0,798523659 37,01064745 24,06694224 -70,01872973 42,32671
58 73 44 56,28660393 12,94997782 0,798406692 37,02177912 24,07180131 -69,79654188 42,38917
58 73 44 56,51348344 12,95218601 0,798303102 37,03163535 24,07944934 -69,57194584 42,45103
58 73 44 56,74036632 12,95037785 0,798212766 37,04022862 24,08985077 -69,34502601 42,51224
58 73 44 56,96718384 12,94460188 0,798135548 37,04757268 24,1029708 -69,11586623 42,57273
58 73 44 57,1938681 12,93490701 0,798071298 37,05368238 24,11877538 -68,88454978 42,63246
58 73 44 57,42035203 12,92134249 0,798019855 37,05857368 24,13723119 -68,65115939 42,69137
58 73 44 57,6465694 12,90395789 0,797981044 37,06226357 24,15830568 -68,41577723 42,7494
58 73 44 57,87245485 12,88280298 0,797954678 37,06476999 24,18196701 -68,1784849 42,80652

1
 58 73 44 58,09794383 12,85792774 0,797940563 37,06611181 24,20818407 -67,93936346 42,86268
58 73 44 58,32297266 12,8293823 0,797938491 37,06630877 24,23692647 -67,69849339 42,91782
58 73 44 58,54747849 12,7972169 0,797948246 37,06538142 24,26816453 -67,45595463 42,97191
58 73 44 58,77139932 12,76148183 0,797969604 37,06335107 24,30186924 -67,21182654 43,0249
58 73 44 58,99467399 12,72222743 0,798002332 37,06023973 24,3380123 -66,96618792 43,07676
58 73 44 59,21724218 12,67950403 0,798046187 37,05607009 24,37656605 -66,71911701 43,12745
58 73 44 59,43904441 12,63336194 0,798100922 37,05086545 24,41750351 -66,47069147 43,17693
58 73 44 59,66002203 12,58385136 0,798166283 37,0446497 24,46079834 -66,2209884 43,22517
58 73 44 59,88011724 12,53102244 0,798242007 37,03744725 24,50642481 -65,97008431 43,27214
58 73 44 60,09927306 12,4749252 0,798327827 37,02928302 24,55435782 -65,71805514 43,3178
58 73 44 60,31743332 12,41560948 0,798423472 37,02018235 24,60457287 -65,46497623 43,36213
58 73 44 60,5345427 12,353125 0,798528664 37,01017104 24,65704604 -65,21092237 43,4051
58 73 44 60,75054669 12,28752124 0,798643123 36,99927522 24,71175398 -64,95596772 43,44669
58 73 44 60,96539157 12,2188475 0,798766562 36,9875214 24,7686739 -64,70018585 43,48687
58 73 44 61,17902448 12,14715283 0,798898693 36,97493637 24,82778354 -64,44364975 43,52562
58 73 44 61,39139332 12,07248605 0,799039225 36,96154723 24,88906117 -64,18643179 43,56292
58 73 44 61,6024468 11,99489571 0,799187862 36,94738128 24,95248557 -63,92860372 43,59876
58 73 44 61,81213445 11,91443007 0,799344308 36,93246607 25,01803601 -63,67023668 43,63311
58 73 44 62,02040656 11,8311371 0,799508264 36,91682932 25,08569222 -63,41140119 43,66597
58 73 44 62,22721422 11,74506449 0,79967943 36,9004989 25,15543441 -63,15216714 43,69731
58 73 44 62,43250931 11,65625959 0,799857504 36,88350282 25,22724323 -62,89260378 43,72714
58 73 44 62,63624446 11,56476944 0,800042184 36,86586919 25,30109975 -62,63277972 43,75543
58 73 44 62,83837309 11,47064075 0,800233166 36,84762619 25,37698545 -62,37276293 43,78218
58 73 44 63,03884938 11,37391986 0,800430146 36,82880207 25,45488221 -62,11262073 43,80738
58 73 44 63,23762826 11,2746528 0,800632822 36,80942508 25,53477228 -61,85241975 43,83103
58 73 44 63,43466542 11,17288523 0,800840888 36,78952352 25,61663829 -61,592226 43,85312
58 73 44 63,6299173 11,06866245 0,801054044 36,76912565 25,70046319 -61,33210477 43,87365
58 73 44 63,82334109 10,96202941 0,801271986 36,7482597 25,78623029 -61,0721207 43,89262
58 73 44 64,0148947 10,85303067 0,801494413 36,72695384 25,87392318 -60,81233775 43,91003
58 73 44 64,20453677 10,74171043 0,801721025 36,7052362 25,96352577 -60,55281916 43,92588
58 73 44 64,39222669 10,62811254 0,801951523 36,68313479 26,05502225 -60,2936275 43,94018
58 73 44 64,57792455 10,51228045 0,80218561 36,66067751 26,14839706 -60,03482461 43,95292
58 73 44 64,76159116 10,39425724 0,802422991 36,63789215 26,24363491 -59,77647165 43,96412
58 73 44 64,94318805 10,27408563 0,802663372 36,61480636 26,34072073 -59,51862902 43,97378
58 73 44 65,12267744 10,15180795 0,802906463 36,59144762 26,43963967 -59,26135645 43,98192
58 73 44 65,30002226 10,02746616 0,803151975 36,56784324 26,54037708 -59,00471289 43,98853
58 73 44 65,47518614 9,901101859 0,803399621 36,54402036 26,6429185 -58,7487566 43,99363
58 73 44 65,64813339 9,772756257 0,803649118 36,5200059 26,74724964 -58,49354506 43,99723
58 73 44 65,818829 9,642470204 0,803900185 36,49582656 26,85335636 -58,23913504 43,99935
58 73 44 65,98723865 9,510284184 0,804152545 36,47150885 26,96122467 -57,98558253 44
58 73 44 66,1533287 9,376238312 0,804405923 36,447079 27,07084069 -57,73294279 43,99919
58 73 44 66,31706617 9,240372345 0,804660047 36,42256301 27,18219067 -57,48127031 43,99694
58 73 44 66,47841876 9,102725681 0,80491465 36,39798661 27,29526093 -57,23061881 43,99327
58 73 44 66,6373548 8,963337363 0,805169466 36,37337524 27,41003787 -56,98104125 43,9882
58 73 44 66,79384332 8,822246085 0,805424235 36,34875407 27,52650799 -56,73258981 43,98174
58 73 44 66,94785396 8,679490193 0,8056787 36,32414798 27,64465779 -56,48531591 43,97392
58 73 44 67,09935704 8,535107692 0,805932606 36,29958152 27,76447383 -56,23927017 43,96476
58 73 44 67,24832352 8,389136252 0,806185705 36,27507894 27,88594269 -55,99450244 43,95427
58 73 44 67,39472497 8,241613205 0,80643775 36,25066415 28,00905094 -55,75106178 43,94249
58 73 44 67,53853365 8,092575562 0,8066885 36,22636072 28,13378516 -55,50899648 43,92943
58 73 44 67,67972239 7,942060008 0,806937717 36,2021919 28,26013189 -55,26835401 43,91512
58 73 44 67,81826469 7,790102912 0,807185169 36,17818054 28,38807763 -55,02918109 43,89959
58 73 44 67,95413467 7,636740333 0,807430625 36,15434918 28,51760885 -54,79152361 43,88286
58 73 44 68,08730706 7,482008022 0,807673862 36,13071994 28,64871192 -54,55542669 43,86496
58 73 44 68,2177572 7,325941435 0,807914658 36,10731458 28,78137314 -54,32093465 43,84592
58 73 44 68,34546106 7,168575728 0,808152799 36,08415447 28,91557874 -54,08809103 43,82576
58 73 44 68,47039521 7,009945775 0,808388073 36,06126058 29,05131481 -53,85693855 43,80451
58 73 44 68,59253684 6,850086165 0,808620272 36,03865349 29,18856732 -53,62751917 43,7822
58 73 44 68,71186372 6,689031214 0,808849196 36,01635334 29,32732212 -53,39987403 43,75887
58 73 44 68,82835425 6,526814967 0,809074646 35,99437987 29,46756491 -53,17404351 43,73454
58 73 44 68,94198741 6,363471208 0,80929643 35,9727524 29,6092812 -52,95006719 43,70925
58 73 44 69,05274276 6,199033463 0,80951436 35,95148981 29,75245635 -52,72798386 43,68302
58 73 44 69,16060048 6,033535012 0,809728253 35,93061053 29,89707552 -52,50783154 43,65588
58 73 44 69,26554134 5,867008889 0,80993793 35,91013257 30,04312368 -52,28964746 43,62788
58 73 44 69,36754666 5,699487893 0,810143218 35,89007346 30,19058556 -52,07346809 43,59904
58 73 44 69,46659837 5,531004592 0,810343948 35,87045028 30,33944569 -51,85932912 43,56939
58 73 44 69,56267899 5,361591334 0,810539958 35,85127967 30,48968834 -51,64726548 43,53898
58 73 44 69,65577161 5,191280248 0,810731087 35,83257778 30,64129753 -51,43731134 43,50783
58 73 44 69,74585988 5,020103256 0,810917183 35,81436027 30,79425702 -51,22950011 43,47597
58 73 44 69,83292804 4,848092077 0,811098097 35,79664236 30,94855028 -51,02386447 43,44345
58 73 44 69,9169609 4,675278234 0,811273686 35,77943874 31,10416051 -50,82043634 43,4103
58 73 44 69,99794385 4,501693062 0,81144381 35,76276365 31,26107059 -50,6192469 43,37654
58 73 44 70,07586282 4,327367713 0,811608336 35,74663081 31,41926309 -50,42032663 43,34223
58 73 44 70,15070434 4,152333165 0,811767137 35,73105344 31,57872027 -50,22370527 43,30738
58 73 44 70,22245547 3,97662023 0,811920089 35,71604427 31,73942404 -50,02941185 43,27204
58 73 44 70,29110387 3,800259557 0,812067073 35,70161551 31,90135595 -49,8374747 43,23625
58 73 44 70,35663773 3,623281641 0,812207977 35,68777886 32,06449722 -49,64792147 43,20003
58 73 44 70,4190458 3,445716831 0,812342694 35,67454551 32,22882868 -49,4607791 43,16343
58 73 44 70,47831742 3,267595336 0,812471119 35,66192611 32,39433077 -49,27607388 43,12648
58 73 44 70,53444245 3,088947232 0,812593157 35,6499308 32,56098357 -49,09383143 43,08921
58 73 44 70,58741132 2,909802469 0,812708715 35,6385692 32,72876673 -48,91407672 43,05167
58 73 44 70,63721502 2,730190877 0,812817706 35,62785038 32,89765951 -48,73683406 43,01388
58 73 44 70,68384508 2,550142175 0,812920048 35,61778289 33,06764072 -48,56212717 42,97588
58 73 44 70,72729358 2,369685978 0,813015665 35,60837473 33,23868875 -48,3899791 42,93772
58 73 44 70,76755317 2,188851802 0,813104486 35,59963337 33,41078157 -48,22041234 42,89941
58 73 44 70,80461703 2,007669071 0,813186444 35,59156574 33,58389666 -48,05344878 42,86101
58 73 44 70,83847889 1,826167128 0,813261479 35,5841782 33,75801107 -47,8891097 42,82254
58 73 44 70,86913304 1,644375235 0,813329535 35,5774766 33,93310137 -47,72741586 42,78404
58 73 44 70,8965743 1,462322587 0,813390562 35,57146622 34,10914364 -47,56838742 42,74554
58 73 44 70,92079805 1,280038316 0,813444516 35,56615179 34,28611348 -47,41204405 42,70709
58 73 44 70,94180022 1,097551497 0,813491355 35,56153749 34,46398599 -47,25840485 42,6687
58 73 44 70,95957726 0,914891156 0,813531047 35,55762694 34,64273578 -47,10748845 42,63043
58 73 44 70,97412619 0,732086277 0,813563562 35,5544232 34,82233693 -46,95931297 42,59229
58 73 44 70,98544455 0,549165811 0,813588876 35,5519288 35,00276299 -46,81389605 42,55433
58 73 44 70,99353046 0,366158678 0,813606971 35,55014569 35,18398702 -46,67125486 42,51658
58 73 44 70,99838255 0,183093779 0,813617833 35,54907527 35,36598149 -46,53140615 42,47907
58 73 44 71 0 0,813621455 35,54871837 35,54871837 -46,3943662 42,44183

Setelah didapatkan hasil perhitungan juga kita bisa mendapatkan grafik perubahan
poisis titik B tiap perubahan sudut 0<θ <360 adalah sebagai berikut:

1
Gambar 3.0.27 Grafik Perubahan Sudut Motor terhadap Posisi Titik B pada Sumbu X

Gambar 3.0.28 Grafik Perubahan Sudut Motor terhadap Posisi Titik B pada Sumbu Y

Perubahan Posisi titik b pada sumbu X

dan sumbu Y
45
44
43
Axis Title

42
41
40
39
38
-80 -75 -70 -65 -60 -55 -50 -45 -40
Axis Title

Gambar 3.0.29 Grafik Perubahan Posisi Sumbu-x dan Sumbu-y pada Titik B

3.1.4 Analisis Posisi Titik C

1
 Gambar 3.0.30 Analisis Posisi Titik C

' 2 2 2 ' 2
L O A =LO O' + LO A −2 LO O . LOA . cos ⁡(18 0 −θ motor )
L O' A 2=58+13 2−2.58 .13 .cos ⁡(18 02−θ motor )
L O' A= √ LO O' 2+ LO A 2−2 LO O' . LOA . cos ⁡(18 0o−θ motor )
69,56=√ 58 + LO A −2 LO O . LOA . cos ⁡(18 0 −θ motor )
2 2 ' o

O
sinβ sin ⁡(30 )
=
13 69,56
O
sin ⁡(30 )
sinβ=13 ×
69,56

( )
O
−1 13 × sin ⁡(30 )
β=sin
69,56
LO β 2=69,56 2+ 632−2.69,56 .73 . cosα
2 2 2
69,56 +63 −44
cosα=
2.69,56 .63

α =cos
−1
(
69,562 +632−44 2
2.69,56 .63 )
sinγ sin ⁡( 26,56)
=
73 44
o
sin ⁡(26,5 6 )×63
sinγ=
37

γ=sin−1 (
sin ⁡(26,5 6 o)×63
37 )
θAB=α−γ
C X =−A X + LAC × cos θ AC
C X =−11,2583+ LAC × cos θ AC
C Y =A y + LAC ×sin θ AC
C Y =6,5+ LAC ×sin θ AC

Berikut untuk hasil lengkapnya disajikan dalam tabel berikut dengan sudut 0<θ <360

1
Tabel 3 Tabel Hasil Perhitungan Analisis Titik C pada Tiap Perubahan Sudut Pada Sumbu-x
dan Sumbu-y
cos alfa FOURBAR OACO' sudut alfa (DERAJAT) nilai sudut Q AC (alfa - beta ) CX4 CY5 Column6
0,854124748 31,33682513 31,33682513 -40,80985915 -32,76429547 360
0,854118533 31,33750992 31,5206037 -40,91587588 -32,81969992 359
0,854099888 31,33956391 31,70572258 -41,02451436 -32,87602299 358
0,854068823 31,3429859 31,89215171 -41,13576866 -32,93323096 357
0,854025352 31,34777393 32,07986021 -41,24963232 -32,9912895 356
0,853969495 31,35392523 32,26881638 -41,3660984 -33,05016366 355
0,853901277 31,36143625 32,45898775 -41,48515943 -33,10981789 354
0,85382073 31,37030267 32,65034098 -41,60680736 -33,17021609 353
0,853727892 31,38051936 32,84284195 -41,73103359 -33,23132155 352
0,853622804 31,39208045 33,03645569 -41,85782892 -33,29309707 351
0,853505516 31,40497927 33,23114639 -41,98718352 -33,35550492 350
0,853376081 31,41920837 33,42687745 -42,11908695 -33,41850686 349
0,85323456 31,43475958 33,62361138 -42,25352811 -33,4820642 348
0,853081017 31,45162391 33,82130989 -42,39049523 -33,54613779 347
0,852915525 31,46979167 34,01993385 -42,52997584 -33,61068807 346
0,85273816 31,4892524 34,21944327 -42,67195677 -33,67567506 345
0,852549005 31,50999488 34,41979735 -42,81642413 -33,74105843 344
0,852348148 31,53200718 34,62095441 -42,96336329 -33,80679749 343
0,852135682 31,55527664 34,82287198 -43,11275886 -33,87285124 342
0,851911708 31,57978987 35,0255067 -43,26459467 -33,93917839 341
0,851676331 31,60553277 35,22881441 -43,41885377 -34,00573738 340
0,851429662 31,63249054 35,4327501 -43,57551842 -34,07248642 339
0,851171817 31,66064769 35,63726792 -43,73457004 -34,13938353 338
0,850902918 31,68998803 35,8423212 -43,89598923 -34,20638654 337
0,850623094 31,72049472 36,04786243 -44,05975576 -34,27345315 336
0,850332477 31,75215021 36,25384327 -44,22584853 -34,34054093 335
0,850031206 31,78493633 36,46021457 -44,39424557 -34,40760739 334
0,849719426 31,81883426 36,66692634 -44,56492406 -34,47461 333
0,849397288 31,85382454 36,87392779 -44,73786026 -34,54150619 332
0,849064946 31,88988706 37,08116731 -44,91302956 -34,60825342 331
0,848722562 31,92700113 37,28859247 -45,09040643 -34,67480921 330
0,848370303 31,96514546 37,49615005 -45,26996444 -34,74113116 329
0,848008341 32,00429813 37,70378602 -45,45167621 -34,80717699 328
0,847636854 32,04443667 37,91144556 -45,63551345 -34,87290456 327
0,847256024 32,08553804 38,11907305 -45,82144696 -34,93827193 326
0,846866041 32,12757863 38,3266121 -46,00944654 -35,00323739 325
0,846467098 32,17053431 38,53400552 -46,19948111 -35,06775947 324
0,846059395 32,21438039 38,74119536 -46,39151859 -35,13179699 323
0,845643137 32,25909168 38,9481229 -46,58552597 -35,1953091 322

1
0,845218534 32,30464248 39,15472864 -46,78146928 -35,25825532 321
0,8447858 32,35100658 39,36095235 -46,97931359 -35,32059556 320
0,844345158 32,39815731 39,56673303 -47,17902299 -35,38229016 319
0,843896832 32,44606751 39,77200894 -47,38056065 -35,4432999 318
0,843441054 32,49470959 39,97671761 -47,58388873 -35,5035861 317
0,84297806 32,54405549 40,18079582 -47,78896846 -35,56311059 316
0,842508091 32,59407673 40,38417965 -47,99576008 -35,62183577 315
0,842031394 32,64474443 40,58680444 -48,2042229 -35,67972465 314
0,84154822 32,69602928 40,78860484 -48,41431523 -35,73674086 313
0,841058825 32,74790159 40,98951479 -48,62599447 -35,79284873 312
0,840563471 32,80033129 41,18946754 -48,83921701 -35,84801327 311
0,840062424 32,85328796 41,38839565 -49,05393834 -35,90220022 310
0,839555955 32,90674081 41,586231 -49,27011296 -35,95537612 309
0,839044338 32,96065872 41,78290481 -49,48769445 -36,0075083 308
0,838527855 33,01501026 41,97834763 -49,70663544 -36,05856492 307
0,838006791 33,06976368 42,17248936 -49,92688763 -36,10851502 306
0,837481433 33,12488693 42,36525928 -50,14840179 -36,15732852 305
0,836952077 33,18034769 42,556586 -50,37112776 -36,20497629 304
0,83641902 33,23611337 42,74639755 -50,59501448 -36,25143017 303
0,835882564 33,29215111 42,93462132 -50,82000996 -36,29666297 302
0,835343015 33,34842785 43,12118411 -51,04606131 -36,34064855 301
0,834800684 33,40491027 43,30601213 -51,27311477 -36,38336179 300
0,834255885 33,46156486 43,48903103 -51,50111566 -36,42477869 299
0,833708935 33,51835792 43,67016587 -51,73000844 -36,46487633 298
0,833160157 33,57525555 43,84934118 -51,95973669 -36,50363296 297
0,832609876 33,63222371 44,02648095 -52,19024313 -36,54102797 296
0,83205842 33,68922821 44,20150866 -52,42146963 -36,57704197 295
0,831506121 33,74623471 44,37434725 -52,65335722 -36,61165676 294
0,830953313 33,80320879 44,54491922 -52,88584608 -36,64485543 293
0,830400335 33,86011589 44,71314656 -53,11887557 -36,67662231 292
0,829847528 33,91692141 44,87895082 -53,35238426 -36,70694305 291
0,829295233 33,97359066 45,04225311 -53,58630987 -36,7358046 290
0,828743798 34,03008891 45,20297414 -53,82058936 -36,76319527 289
0,828193569 34,08638141 45,36103422 -54,0551589 -36,78910475 288
0,827644897 34,14243341 45,51635326 -54,28995386 -36,81352411 287
0,827098133 34,19821013 45,66885088 -54,52490888 -36,83644583 286
0,82655363 34,25367688 45,81844632 -54,75995782 -36,85786384 285
0,826011743 34,30879898 45,96505857 -54,99503382 -36,8777735 284
0,825472828 34,36354182 46,10860631 -55,23006926 -36,89617167 283
0,824937241 34,41787092 46,24900802 -55,46499583 -36,91305669 282
0,82440534 34,47175188 46,38618194 -55,69974447 -36,92842841 281
0,823877481 34,52515045 46,52004616 -55,93424546 -36,94228821 280
0,823354022 34,57803256 46,65051862 -56,16842836 -36,95463902 279
0,82283532 34,63036431 46,77751714 -56,40222205 -36,96548533 278
0,822321733 34,682112 46,9009595 -56,63555477 -36,97483319 277
0,821813615 34,7332422 47,02076344 -56,86835407 -36,98269024 276
0,821311321 34,78372173 47,13684672 -57,10054686 -36,98906574 275
0,820815205 34,8335177 47,24912718 -57,33205942 -36,99397053 274
0,820325616 34,88259755 47,35752274 -57,56281738 -36,99741709 273
0,819842904 34,93092906 47,46195151 -57,79274579 -36,99941953 272
0,819367415 34,97848043 47,56233179 -58,02176905 -36,9999936 271
0,81889949 35,02522022 47,65858216 -58,24981098 -36,99915667 270
0,818439471 35,07111749 47,75062153 -58,47679481 -36,9969278 269
0,817987691 35,11614175 47,83836918 -58,7026432 -36,99332768 268
0,817544481 35,16026304 47,92174487 -58,92727822 -36,98837865 267
0,817110168 35,20345196 48,00066886 -59,15062139 -36,98210473 266
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0,851911708 31,57978987 28,13407304 -39,29874562 -31,9258999 19
0,852135682 31,55527664 28,2876813 -39,35430844 -31,9583821 18
0,852348148 31,53200718 28,44305995 -39,41254247 -31,99228692 17
0,852549005 31,50999488 28,60019241 -39,47344686 -32,0275948 16
0,85273816 31,4892524 28,75906152 -39,53702066 -32,06428533 15
0,852915525 31,46979167 28,9196495 -39,60326285 -32,10233733 14
0,853081017 31,45162391 29,08193794 -39,67217229 -32,14172882 13
0,85323456 31,43475958 29,24590777 -39,74374771 -32,18243702 12
0,853376081 31,41920837 29,4115393 -39,81798769 -32,22443837 11
0,853505516 31,40497927 29,57881214 -39,89489064 -32,26770855 10
0,853622804 31,39208045 29,74770522 -39,97445474 -32,31222242 9
0,853727892 31,38051936 29,91819678 -40,05667798 -32,35795412 8
0,85382073 31,37030267 30,09026435 -40,14155809 -32,40487698 7
0,853901277 31,36143625 30,26388475 -40,22909253 -32,45296362 6
0,853969495 31,35392523 30,43903407 -40,3192785 -32,50218588 5
0,854025352 31,34777393 30,61568765 -40,41211284 -32,55251489 4
0,854068823 31,3429859 30,79382009 -40,5075921 -32,60392102 3
0,854099888 31,33956391 30,97340523 -40,60571244 -32,65637396 2
0,854118533 31,33750992 31,15441614 -40,70646966 -32,70984269 1
0,854124748 31,33682513 31,33682513 -40,80985915 -32,76429547 0

Setelah didapatkan hasil perhitungan, kita bisa juga mendapatkan grafik perubahan
posisi titik C tiap perubahan sudut 0<θ <360 adalah sebagai berikut:

Gambar 3.0.31 Grafik Perubahan Sudut Motor terhadap Posisi Titik C pada Sumbu x

CY5
12
10
8
6
4
2
0
0 2 4 6 8 10 12

Gambar 3.0.32 Grafik Perubahan Sudut Motor terhadap Posisi Titik C pada Sumbu y

1
 Pergerakan arah sumbu x dan sumbu y
50
40
Pergerakan Sumbu y 30
20
10
0
-100 -80 -60 -40 -20 0 20
-10
-20
pergerakan sumbu x
Gambar 3.0.33 Grafik Perubahan Posisi Sumbu-x dan Sumbu-y pada Link OA

3.1.5 Analisis Posisi Titik D

Gambar 3.0.34 Analisis Posisi Titik D

√
Lbayang−bayang OB= ( OX −B X ) + ( OY −B Y )
2 2

√
Lbayang−bayang OB= ( OX +51,647 ) + ( OY −43,53 )
2 2

θOD =cos
−1
( LO ' B2+ LO' O−LO B2
2 LO ' B . LO ' O )
( )
2 2 2
−1 LO' B + LO ' B −LB D
θ BD=cos '
2× LO B × LOD
θOD =θ BD+ θOD
' '
D x =−LO O + LO D× cos ⁡(θOD )
'
D y =−LO D × sin ⁡(θ OD )

¿
Berikut untuk hasil lengkapnya disajikan dalam tabel berikut dengan sudut
0<θ <360

1
Tabel 4 Tabel Hasil Perhitungan Analisis Titik D pada Tiap Perubahan Sudut Pada
Sumbu-x dan Sumbu-y
L 0'B (mm) L O'D (mm) L BD panjang bayang bayang (L OB) Sudut QBD sudut QOB untuk fourbarlinkage (derajat) SUDUT Q OD (DERAJAT) Dx Dy
44 62,87882377 47,89784346 74,70645356 122,604297 -79,01452464 32,85406755
44 62,75490025 47,89784346 74,5251864 122,4230299 -78,91047894 32,92038685
44 62,63336162 47,89784346 74,34760117 122,2454446 -78,80834367 32,98503954
44 62,5142358 47,89784346 74,17372615 122,0715696 -78,70814859 33,04803446
44 62,39755033 47,89784346 74,00358923 121,9014327 -78,60992297 33,10938047
44 62,28333232 47,89784346 73,83721793 121,7350614 -78,51369562 33,16908639
44 62,17160847 47,89784346 73,67463938 121,5724828 -78,41949485 33,22716103
44 62,06240512 47,89784346 73,51588037 121,4137238 -78,32734852 33,28361312
44 61,95574817 47,89784346 73,3609673 121,2588108 -78,23728399 33,33845133
44 61,85166316 47,89784346 73,20992624 121,1077697 -78,14932815 33,39168422
44 61,75017521 47,89784346 73,06278292 120,9606264 -78,06350744 33,44332025
44 61,65130906 47,89784346 72,91956274 120,8174062 -77,97984779 33,49336774
44 61,55508907 47,89784346 72,78029076 120,6781342 -77,89837468 33,54183485
44 61,4615392 47,89784346 72,64499173 120,5428352 -77,81911314 33,58872957
44 61,37068304 47,89784346 72,51369012 120,4115336 -77,7420877 33,63405972
44 61,28254381 47,89784346 72,38641007 120,2842535 -77,66732247 33,67783287
44 61,19714434 47,89784346 72,26317543 120,1610189 -77,59484106 33,7200564
44 61,11450709 47,89784346 72,14400981 120,0418533 -77,52466666 33,76073743
44 61,03465418 47,89784346 72,02893651 119,92678 -77,456822 33,79988281
44 60,95760733 47,89784346 71,9179786 119,8158221 -77,39132935 33,83749911
44 60,88338793 47,89784346 71,81115887 119,7090023 -77,32821054 33,87359263
44 60,81201701 47,89784346 71,7084999 119,6063434 -77,26748697 33,90816931
44 60,74351524 47,89784346 71,61002401 119,5078675 -77,20917961 33,94123478
44 60,67790297 47,89784346 71,51575334 119,4135968 -77,15330898 33,97279434
44 60,61520018 47,89784346 71,42570977 119,3235532 -77,09989518 34,00285288
44 60,55542653 47,89784346 71,33991502 119,2377585 -77,04895788 34,03141495
44 60,49860137 47,89784346 71,25839059 119,1562341 -77,00051634 34,05848468
44 60,44474367 47,89784346 71,18115782 119,0790013 -76,95458941 34,08406578
44 60,39387213 47,89784346 71,10823786 119,0060813 -76,91119551 34,10816155
44 60,34600512 47,89784346 71,0396517 118,9374952 -76,87035265 34,13077484
44 60,30116067 47,89784346 70,9754202 118,8732637 -76,83207845 34,15190802
44 60,25935653 47,89784346 70,91556405 118,8134075 -76,79639013 34,171563
44 60,22061013 47,89784346 70,86010381 118,7579473 -76,7633045 34,18974122
44 60,18493863 47,89784346 70,80905994 118,7069034 -76,73283797 34,20644357
44 60,15235884 47,89784346 70,76245274 118,6602962 -76,70500658 34,22167046
44 60,12288732 47,89784346 70,72030245 118,6181459 -76,67982596 34,23542175
44 60,09654033 47,89784346 70,68262918 118,5804726 -76,65731136 34,24769675
44 60,07333384 47,89784346 70,64945296 118,5472964 -76,63747764 34,25849423
44 60,05328354 47,89784346 70,62079374 118,5186372 -76,62033929 34,26781237
44 60,03640483 47,89784346 70,59667141 118,4945149 -76,60591041 34,27564876
44 60,02271284 47,89784346 70,57710576 118,4749492 -76,5942047 34,2820004
44 60,01222244 47,89784346 70,56211654 118,45996 -76,58523551 34,28686368
44 60,00494819 47,89784346 70,55172346 118,4495669 -76,57901579 34,29023436
44 60,00090441 47,89784346 70,54594617 118,4437896 -76,57555812 34,29210755
44 60,00010514 47,89784346 70,54480428 118,4426477 -76,57487468 34,29247776
44 60,00256413 47,89784346 70,54831736 118,4461608 -76,57697728 34,29133878
44 60,00829487 47,89784346 70,55650496 118,4543484 -76,58187735 34,28868376
44 60,0173106 47,89784346 70,5693866 118,4672301 -76,5895859 34,28450519
44 60,02962425 47,89784346 70,58698179 118,4848253 -76,60011359 34,27879482
44 60,0452485 47,89784346 70,60931 118,5071535 -76,61347065 34,27154374
44 60,06419574 47,89784346 70,63639071 118,5342342 -76,62966693 34,2627423
44 60,08647809 47,89784346 70,66824335 118,5660868 -76,64871185 34,25238015
44 60,11210737 47,89784346 70,70488737 118,6027308 -76,67061445 34,2404462
44 60,14109514 47,89784346 70,7463422 118,6441857 -76,69538332 34,22692862
44 60,17345265 47,89784346 70,79262724 118,6904707 -76,72302663 34,21181483
44 60,20919084 47,89784346 70,84376189 118,7416054 -76,75355212 34,1950915
44 60,24832037 47,89784346 70,89976554 118,797609 -76,78696709 34,17674455
44 60,29085157 47,89784346 70,96065754 118,858501 -76,82327835 34,1567591
44 60,33679445 47,89784346 71,02645722 118,9243007 -76,86249227 34,13511953
44 60,38615869 47,89784346 71,09718389 118,9950274 -76,90461473 34,11180942
44 60,43895365 47,89784346 71,17285682 119,0707003 -76,94965112 34,08681156
44 60,49518831 47,89784346 71,25349522 119,1513387 -76,99760631 34,06010797
44 60,5548713 47,89784346 71,33911827 119,2369617 -77,04848464 34,03167984
44 60,61801088 47,89784346 71,42974506 119,3275885 -77,10228992 34,00150761
44 60,6846149 47,89784346 71,52539463 119,4232381 -77,15902539 33,96957089
44 60,75469082 47,89784346 71,62608592 119,5239294 -77,21869371 33,93584848
44 60,82824568 47,89784346 71,73183775 119,6296812 -77,28129693 33,90031842
44 60,90528606 47,89784346 71,84266885 119,7405123 -77,34683649 33,8629579
44 60,9858181 47,89784346 71,95859779 119,8564413 -77,41531318 33,82374335

1
44 61,06984745 47,89784346 72,079643 119,9774865 -77,48672711 33,78265038
44 61,15737926 47,89784346 72,20582272 120,1036662 -77,56107769 33,73965382
44 61,24841815 47,89784346 72,33715498 120,2349984 -77,63836361 33,6947277
44 61,34296821 47,89784346 72,47365761 120,3715011 -77,7185828 33,64784528
44 61,44103292 47,89784346 72,61534818 120,5131916 -77,80173243 33,59897905
44 61,5426152 47,89784346 72,76224395 120,6600874 -77,88780881 33,5481007
44 61,64771731 47,89784346 72,91436189 120,8122054 -77,97680745 33,49518121
44 61,75634086 47,89784346 73,07171863 120,9695621 -78,06872293 33,44019079
44 61,86848676 47,89784346 73,23433039 121,1321739 -78,16354894 33,38309893
44 61,9841552 47,89784346 73,402213 121,3000565 -78,26127821 33,32387441
44 62,1033456 47,89784346 73,57538181 121,4732253 -78,36190245 33,2624853
44 62,2260566 47,89784346 73,75385166 121,6516951 -78,46541237 33,19889903
44 62,35228598 47,89784346 73,93763684 121,8354803 -78,57179757 33,13308233
44 62,48203066 47,89784346 74,12675106 122,0245945 -78,68104654 33,06500135
44 62,61528664 47,89784346 74,32120735 122,2190508 -78,79314661 32,99462159
44 62,75204894 47,89784346 74,52101805 122,4188615 -78,90808388 32,92190803
44 62,89231159 47,89784346 74,72619472 122,6240382 -79,0258432 32,84682508
44 63,03606756 47,89784346 74,93674811 122,8345916 -79,14640811 32,76933664
44 63,18330872 47,89784346 75,15268807 123,0505315 -79,26976079 32,68940618
44 63,33402578 47,89784346 75,37402351 123,271867 -79,39588199 32,6069967
44 63,48820825 47,89784346 75,60076227 123,4986057 -79,52475102 32,52207086
44 63,64584437 47,89784346 75,83291113 123,7307546 -79,65634567 32,43459098
44 63,80692107 47,89784346 76,07047566 123,9683191 -79,79064213 32,34451909
44 63,97142391 47,89784346 76,31346019 124,2113037 -79,92761499 32,25181701
44 64,139337 47,89784346 76,56186767 124,4597111 -80,06723714 32,1564464
44 64,31064298 47,89784346 76,81569963 124,7135431 -80,20947972 32,05836881
44 64,48532291 47,89784346 77,07495607 124,9727995 -80,35431209 31,95754576
44 64,66335624 47,89784346 77,33963536 125,2374788 -80,50170172 31,85393884
44 64,84472074 47,89784346 77,60973411 125,5075776 -80,6516142 31,74750973
44 65,02939242 47,89784346 77,88524713 125,7830906 -80,8040131 31,63822035
44 65,21734547 47,89784346 78,16616727 126,0640107 -80,95885998 31,52603287
44 65,40855219 47,89784346 78,4524853 126,3503288 -81,11611431 31,41090987
44 65,60298291 47,89784346 78,74418983 126,6420333 -81,2757334 31,29281443
44 65,80060595 47,89784346 79,04126716 126,9391106 -81,43767234 31,17171018
44 66,0013875 47,89784346 79,34370116 127,2415446 -81,60188397 31,04756147
44 66,20529159 47,89784346 79,65147315 127,5493166 -81,76831881 30,92033345
44 66,41227999 47,89784346 79,96456173 127,8624052 -81,93692501 30,78999222
44 66,62231216 47,89784346 80,28294271 128,1807862 -82,10764828 30,65650493
44 66,83534514 47,89784346 80,60658886 128,5044323 -82,28043188 30,51983991
44 67,05133351 47,89784346 80,93546989 128,8333134 -82,45521653 30,37996683
44 67,27022931 47,89784346 81,2695522 129,1673957 -82,63194042 30,23685684
44 67,49198196 47,89784346 81,60879875 129,5066422 -82,8105391 30,09048271
44 67,71653819 47,89784346 81,95316895 129,8510124 -82,99094553 29,94081899
44 67,94384196 47,89784346 82,30261843 130,2004619 -83,17308996 29,78784219
44 68,17383442 47,89784346 82,65709892 130,5549424 -83,35689997 29,63153091
44 68,40645381 47,89784346 83,01655808 130,9144015 -83,54230042 29,47186606
44 68,64163542 47,89784346 83,38093932 131,2787828 -83,72921345 29,30883101
44 68,8793115 47,89784346 83,75018162 131,6480251 -83,91755844 29,14241178
44 69,11941125 47,89784346 84,12421938 132,0220628 -84,10725204 28,97259724
44 69,3618607 47,89784346 84,50298224 132,4008257 -84,29820816 28,7993793
44 69,60658271 47,89784346 84,88639491 132,7842384 -84,49033797 28,62275308
44 69,8534969 47,89784346 85,27437697 133,1722204 -84,68354996 28,44271719
44 70,1025196 47,89784346 85,66684273 133,5646862 -84,87774993 28,25927385
44 70,35356384 47,89784346 86,06370104 133,9615445 -85,07284104 28,07242915
44 70,6065393 47,89784346 86,46485513 134,3626986 -85,26872385 27,88219323
44 70,86135227 47,89784346 86,87020243 134,7680459 -85,46529642 27,68858054
44 71,11790566 47,89784346 87,27963441 135,1774779 -85,66245432 27,49161001
44 71,37609899 47,89784346 87,69303644 135,5908799 -85,86009075 27,29130528
44 71,63582835 47,89784346 88,1102876 136,0081311 -86,05809661 27,08769489
44 71,89698645 47,89784346 88,53126055 136,429104 -86,25636064 26,88081255
44 72,15946261 47,89784346 88,95582141 136,8536649 -86,45476949 26,67069728
44 72,42314277 47,89784346 89,38382959 137,2816731 -86,65320787 26,45739365
44 72,68790957 47,89784346 89,81513769 137,7129812 -86,8515587 26,24095198
44 72,95364234 47,89784346 90,24959139 138,1474349 -87,04970325 26,0214285
44 73,22021721 47,89784346 90,68702933 138,5848728 -87,24752132 25,79888556
44 73,48750713 47,89784346 91,12728305 139,0251265 -87,44489142 25,57339182
44 73,75538198 47,89784346 91,57017689 139,4680204 -87,64169095 25,34502234
44 74,02370862 47,89784346 92,01552797 139,9133714 -87,83779641 25,11385883
44 74,29235107 47,89784346 92,46314609 140,3609896 -88,03308362 24,87998971
44 74,56117053 47,89784346 92,9128338 140,8106773 -88,22742798 24,64351025
44 74,83002559 47,89784346 93,36438629 141,2622298 -88,42070467 24,40452269
44 75,09877234 47,89784346 93,81759151 141,715435 -88,6127889 24,1631363
44 75,3672645 47,89784346 94,27223017 142,1700736 -88,80355622 23,91946747
44 75,63535365 47,89784346 94,72807577 142,6259192 -88,99288276 23,67363974
44 75,90288936 47,89784346 95,18489477 143,0827382 -89,1806455 23,42578379
44 76,16971939 47,89784346 95,64244664 143,5402901 -89,36672259 23,17603749
44 76,43568995 47,89784346 96,10048407 143,9983275 -89,55099363 22,92454582
44 76,70064585 47,89784346 96,55875308 144,4565965 -89,73333994 22,67146083
44 76,96443078 47,89784346 97,01699326 144,9148367 -89,91364491 22,41694155
44 77,22688753 47,89784346 97,474938 145,3727815 -90,09179427 22,16115386

1
77,48785829 47,89784346 97,93231476 145,8301582 -90,2676764 21,90427035
77,74718483 47,89784346 98,38884534 146,2866888 -90,44118264 21,64647013
78,00470886 47,89784346 98,84424625 146,7420897 -90,61220756 21,38793861
78,26027227 47,89784346 99,29822903 147,1960725 -90,78064927 21,12886729
78,51371742 47,89784346 99,75050067 147,6483441 -90,94640972 20,86945343
78,76488747 47,89784346 100,200764 148,0986075 -91,10939492 20,60989976
79,01362661 47,89784346 100,6487182 148,5465617 -91,26951524 20,35041414
79,25978044 47,89784346 101,0940592 148,9919027 -91,42668566 20,09120916
79,50319623 47,89784346 101,5364803 149,4343237 -91,58082597 19,83250178
79,74372325 47,89784346 101,9756725 149,873516 -91,73186101 19,57451284
79,98121305 47,89784346 102,4113254 150,3091689 -91,87972082 19,31746663
80,21551978 47,89784346 102,8431276 150,7409711 -92,02434088 19,06159037
80,44650048 47,89784346 103,2707671 151,1686106 -92,1656622 18,80711373
80,67401536 47,89784346 103,6939324 151,5917758 -92,30363144 18,55426824
80,89792813 47,89784346 104,1123126 152,0101561 -92,43820106 18,30328681
81,11810621 47,89784346 104,5255988 152,4234422 -92,56932933 18,05440305
81,33442104 47,89784346 104,9334837 152,8313272 -92,69698042 17,80785079
81,54674829 47,89784346 105,3356636 153,2335071 -92,82112437 17,5638634
81,75496814 47,89784346 105,7318378 153,6296813 -92,94173711 17,32267323
81,95896548 47,89784346 106,1217103 154,0195537 -93,0588004 17,08451095
82,15863011 47,89784346 106,5049897 154,4028332 -93,17230176 16,84960501
82,35385694 47,89784346 106,8813906 154,779234 -93,28223436 16,61818096
82,54454613 47,89784346 107,2506335 155,148477 -93,38859691 16,3904609
82,73060327 47,89784346 107,6124462 155,5102897 -93,49139349 16,16666285
82,91193951 47,89784346 107,9665639 155,8644074 -93,59063337 15,94700022
83,08847161 47,89784346 108,31273 156,2105735 -93,68633081 15,73168119
83,26012211 47,89784346 108,6506967 156,5485401 -93,77850482 15,52090824
83,42681931 47,89784346 108,9802254 156,8780689 -93,86717894 15,31487757
83,58849738 47,89784346 109,3010875 157,198931 -93,95238093 15,11377866
83,74509634 47,89784346 109,6130647 157,5109082 -94,03414253 14,9177938
83,89656205 47,89784346 109,9159495 157,8137929 -94,11249914 14,72709767
84,04284622 47,89784346 110,2095454 158,1073888 -94,18748951 14,54185692
84,18390634 47,89784346 110,4936676 158,3915111 -94,25915544 14,36222986
84,31970564 47,89784346 110,7681432 158,6659867 -94,32754144 14,18836611
84,450213 47,89784346 111,0328115 158,9306549 -94,3926944 14,02040636
84,57540281 47,89784346 111,2875239 159,1853673 -94,45466327 13,85848208
84,69525492 47,89784346 111,5321445 159,429988 -94,51349875 13,70271538
84,80975448 47,89784346 111,7665503 159,6643938 -94,56925293 13,55321882
84,91889177 47,89784346 111,9906308 159,8884743 -94,62197897 13,4100953
85,02266208 47,89784346 112,2042884 160,1021318 -94,67173085 13,273438
85,12106553 47,89784346 112,4074382 160,3052817 -94,71856299 13,14333031
85,21410687 47,89784346 112,6000083 160,4978518 -94,76253001 13,01984589
85,3017953 47,89784346 112,7819392 160,6797826 -94,80368644 12,90304864
85,38414431 47,89784346 112,953184 160,8510275 -94,84208645 12,79299284
85,46117143 47,89784346 113,1137082 161,0115516 -94,87778362 12,6897232
85,53289805 47,89784346 113,2634893 161,1613327 -94,91083071 12,59327503
85,59934922 47,89784346 113,4025167 161,3003602 -94,94127944 12,5036744
85,66055342 47,89784346 113,5307915 161,428635 -94,96918028 12,42093834
85,71654237 47,89784346 113,648326 161,5461694 -94,99458233 12,34507506
85,76735081 47,89784346 113,7551433 161,6529867 -95,01753311 12,27608415
85,8130163 47,89784346 113,8512771 161,7491206 -95,03807846 12,21395692
85,85357902 47,89784346 113,9367716 161,8346151 -95,0562624 12,15867661
85,88908157 47,89784346 114,0116804 161,9095238 -95,07212704 12,11021871
85,91956877 47,89784346 114,0760665 161,97391 -95,08571249 12,06855124
85,94508746 47,89784346 114,1300021 162,0278456 -95,09705683 12,03363513
85,96568636 47,89784346 114,1735677 162,0714111 -95,10619602 12,00542447
85,98141585 47,89784346 114,2068517 162,1046952 -95,11316391 11,98386686
85,99232781 47,89784346 114,2299504 162,1277939 -95,11799217 11,96890377
85,99847549 47,89784346 114,2429671 162,1408106 -95,12071035 11,96047085
85,9999133 47,89784346 114,2460118 162,1438552 -95,12134587 11,95849826
85,99669674 47,89784346 114,2392006 162,1370441 -95,11992403 11,96291102
85,98888216 47,89784346 114,2226558 162,1204993 -95,11646805 11,97362934
85,97652675 47,89784346 114,1965047 162,0943481 -95,11099913 11,99056893
85,95968833 47,89784346 114,1608795 162,058723 -95,10353652 12,01364133
85,93842524 47,89784346 114,1159173 162,0137608 -95,09409752 12,04275421
85,9127963 47,89784346 114,061759 161,9596024 -95,08269764 12,07781171
85,88286066 47,89784346 113,9985491 161,8963926 -95,0693506 12,1187147
85,84867769 47,89784346 113,9264359 161,8242793 -95,05406846 12,16536109
85,81030697 47,89784346 113,8455701 161,7434136 -95,03686169 12,21764609
85,76780815 47,89784346 113,7561054 161,6539489 -95,01773927 12,2754625

1
 85,7212409 47,89784346 113,6581976 161,5560411 -94,99670875 12,33870097
85,67066486 47,89784346 113,5520044 161,4498479 -94,97377642 12,4072502
85,61613957 47,89784346 113,4376852 161,3355287 -94,94894731 12,48099725
85,55772442 47,89784346 113,3154007 161,2132442 -94,92222539 12,5598277
85,49547862 47,89784346 113,1853126 161,0831561 -94,89361359 12,64362592
85,42946115 47,89784346 113,0475834 160,9454269 -94,86311392 12,73227521
85,35973072 47,89784346 112,9023761 160,8002196 -94,8307276 12,82565805
85,28634574 47,89784346 112,7498542 160,6476977 -94,79645511 12,92365627
85,20936433 47,89784346 112,5901809 160,4880244 -94,76029631 13,02615119
85,12884423 47,89784346 112,4235197 160,3213632 -94,72225055 13,13302383
85,04484287 47,89784346 112,2500334 160,1478769 -94,6823167 13,244155
84,95741727 47,89784346 112,0698846 159,9677281 -94,64049331 13,35942552
84,86662409 47,89784346 111,8832351 159,7810785 -94,59677864 13,4787163
84,77251961 47,89784346 111,6902458 159,5880893 -94,5511708 13,60190845
84,67515969 47,89784346 111,4910769 159,3889204 -94,50366775 13,72888345
84,57459981 47,89784346 111,2858875 159,1837309 -94,45426745 13,85952324
84,47089505 47,89784346 111,0748352 158,9726787 -94,40296791 13,99371028
84,3641001 47,89784346 110,8580767 158,7559201 -94,34976723 14,13132769
84,25426924 47,89784346 110,6357671 158,5336105 -94,29466371 14,27225932
84,1414564 47,89784346 110,4080601 158,3059035 -94,23765589 14,41638982
84,02571508 47,89784346 110,1751078 158,0729513 -94,17874262 14,56360472
83,90709845 47,89784346 109,9370609 157,8349044 -94,11792309 14,71379052
83,78565928 47,89784346 109,6940682 157,5919116 -94,05519694 14,86683469
83,66145 47,89784346 109,4462768 157,3441203 -93,99056424 15,02262579
83,5345227 47,89784346 109,1938322 157,0916757 -93,9240256 15,18105348
83,40492913 47,89784346 108,9368781 156,8347216 -93,85558216 15,3420086
83,27272069 47,89784346 108,6755562 156,5733997 -93,78523568 15,50538318
83,13794851 47,89784346 108,4100065 156,30785 -93,71298853 15,67107049
83,00066339 47,89784346 108,1403671 156,0382105 -93,63884377 15,83896507
82,86091585 47,89784346 107,8667742 155,7646176 -93,56280516 16,00896278
82,71875612 47,89784346 107,5893621 155,4872056 -93,48487716 16,18096081
82,5742342 47,89784346 107,3082634 155,2061068 -93,40506503 16,35485769
82,42739979 47,89784346 107,0236084 154,9214519 -93,32337478 16,53055335
82,2783024 47,89784346 106,735526 154,6333695 -93,23981323 16,70794912
82,12699127 47,89784346 106,4441429 154,3419863 -93,15438802 16,88694771
81,97351544 47,89784346 106,1495839 154,0474274 -93,06710763 17,0674533
81,81792376 47,89784346 105,8519721 153,7498156 -92,97798141 17,24937149
81,66026486 47,89784346 105,5514288 153,4492722 -92,88701953 17,43260933
81,50058722 47,89784346 105,2480732 153,1459166 -92,79423309 17,61707535
81,33893912 47,89784346 104,9420229 152,8398663 -92,69963404 17,80267951
81,17536869 47,89784346 104,6333936 152,531237 -92,60323523 17,98933328
81,00992393 47,89784346 104,3222993 152,2201428 -92,50505041 18,17694958
80,84265266 47,89784346 104,0088523 151,9066957 -92,40509424 18,36544283
80,67360261 47,89784346 103,6931629 151,5910064 -92,30338226 18,55472893
80,50282137 47,89784346 103,3753401 151,2731835 -92,19993093 18,74472524
80,33035641 47,89784346 103,0554908 150,9533343 -92,09475761 18,93535063
80,15625511 47,89784346 102,7337207 150,6315641 -91,98788056 19,12652543
79,98056474 47,89784346 102,4101334 150,3079769 -91,87931893 19,31817148
79,8033325 47,89784346 102,0848313 149,9826748 -91,76909276 19,51021206
79,62460548 47,89784346 101,757915 149,6557585 -91,65722298 19,70257195
79,44443072 47,89784346 101,4294837 149,3273272 -91,5437314 19,89517739
79,26285518 47,89784346 101,099635 148,9974785 -91,42864071 20,08795611
79,07992574 47,89784346 100,768465 148,6663085 -91,31197443 20,28083725
78,89568923 47,89784346 100,4360684 148,3339119 -91,19375695 20,47375147
78,71019245 47,89784346 100,1025385 148,0003819 -91,07401351 20,66663083
78,52348211 47,89784346 99,76796708 147,6658105 -90,95277017 20,85940887
78,3356049 47,89784346 99,43244471 147,3302882 -90,83005378 21,05202054
78,14660745 47,89784346 99,09606052 146,993904 -90,70589203 21,24440225
77,95653635 47,89784346 98,75890234 146,6567458 -90,58031337 21,4364918
77,76543816 47,89784346 98,42105672 146,3189002 -90,45334704 21,62822845
77,57335939 47,89784346 98,08260895 145,9804524 -90,32502304 21,81955282
77,38034654 47,89784346 97,74364308 145,6414865 -90,19537209 22,01040699
77,18644606 47,89784346 97,40424194 145,3020854 -90,06442567 22,20073437
76,99170435 47,89784346 97,06448721 144,9623307 -89,93221592 22,39047981
76,7961678 47,89784346 96,72445938 144,6223028 -89,79877573 22,5795895
76,59988276 47,89784346 96,38423781 144,2820813 -89,66413861 22,76801102
76,40289555 47,89784346 96,04390078 143,9417442 -89,52833877 22,95569329
76,20525245 47,89784346 95,70352544 143,6013689 -89,39141102 23,14258659
76,00699971 47,89784346 95,3631879 143,2610314 -89,25339082 23,32864253
75,80818354 47,89784346 95,02296322 142,9208067 -89,1143142 23,51381406

1
 75,60885011 47,89784346 94,68292545 142,5807689 -88,97421779 23,69805545
75,40904557 47,89784346 94,34314762 142,2409911 -88,83313877 23,88132227
75,20881598 47,89784346 94,00370181 141,9015453 -88,69111487 24,06357139
75,00820741 47,89784346 93,66465912 141,5625026 -88,54818431 24,24476098
74,80726584 47,89784346 93,32608971 141,2239332 -88,40438586 24,42485048
74,60603722 47,89784346 92,98806283 140,8859063 -88,25975871 24,60380058
74,40456743 47,89784346 92,65064681 140,5484903 -88,11434255 24,78157325
74,20290231 47,89784346 92,31390911 140,2117526 -87,96817749 24,9581317
74,0010876 47,89784346 91,97791632 139,8757598 -87,82130406 25,13344036
73,79916902 47,89784346 91,64273417 139,5405776 -87,67376318 25,30746488
73,59719217 47,89784346 91,30842755 139,206271 -87,52559615 25,48017214
73,3952026 47,89784346 90,97506054 138,872904 -87,37684461 25,65153019
73,19324577 47,89784346 90,64269641 138,5405399 -87,22755054 25,82150827
72,99136705 47,89784346 90,31139763 138,2092411 -87,07775624 25,9900768
72,78961172 47,89784346 89,98122591 137,8790694 -86,92750428 26,15720734
72,58802494 47,89784346 89,65224216 137,5500856 -86,77683751 26,32287262
72,38665178 47,89784346 89,32450658 137,22235 -86,62579901 26,48704648
72,18553721 47,89784346 88,9980786 136,8959221 -86,47443211 26,64970386
71,98472605 47,89784346 88,67301692 136,5708604 -86,32278032 26,81082085
71,78426303 47,89784346 88,34937954 136,247223 -86,17088736 26,97037459
71,58419271 47,89784346 88,02722373 135,9250672 -86,01879708 27,1283433
71,38455953 47,89784346 87,70660609 135,6044496 -85,8665535 27,28470626
71,18540779 47,89784346 87,38758251 135,285426 -85,71420075 27,43944381
70,98678163 47,89784346 87,0702082 134,9680517 -85,56178305 27,5925373
70,78872503 47,89784346 86,75453773 134,6523812 -85,40934473 27,7439691
70,59128179 47,89784346 86,44062498 134,3384684 -85,25693014 27,89372257
70,39449557 47,89784346 86,12852318 134,0263666 -85,10458372 28,04178207
70,1984098 47,89784346 85,81828494 133,7161284 -84,95234988 28,18813289
70,00306776 47,89784346 85,50996222 133,4078057 -84,80027308 28,3327613
69,80851252 47,89784346 85,20360633 133,1014498 -84,64839772 28,47565449
69,61478693 47,89784346 84,899268 132,7971115 -84,4967682 28,61680057
69,42193365 47,89784346 84,59699731 132,4948408 -84,34542884 28,75618854
69,22999511 47,89784346 84,29684374 132,1946872 -84,19442389 28,89380828
69,03901352 47,89784346 83,99885617 131,8966996 -84,04379753 29,02965053
68,84903084 47,89784346 83,70308289 131,6009264 -83,89359382 29,16370689
68,6600888 47,89784346 83,40957159 131,3074151 -83,74385667 29,29596976
68,47222888 47,89784346 83,11836937 131,0162128 -83,59462988 29,42643236
68,2854923 47,89784346 82,82952277 130,7273662 -83,44595707 29,55508871
68,09992001 47,89784346 82,54307771 130,4409212 -83,2978817 29,68193358
67,9155527 47,89784346 82,2590796 130,1569231 -83,15044703 29,80696251
67,73243077 47,89784346 81,97757323 129,8754167 -83,00369611 29,93017175
67,55059434 47,89784346 81,69860287 129,5964463 -82,85767175 30,05155828
67,37008324 47,89784346 81,4222122 129,3200557 -82,71241657 30,17111976
67,19093699 47,89784346 81,14844437 129,0462878 -82,56797288 30,28885453
67,01319481 47,89784346 80,87734197 128,7751854 -82,42438276 30,40476158
66,83689561 47,89784346 80,60894706 128,5067905 -82,281688 30,51884054
66,66207798 47,89784346 80,34330114 128,2411446 -82,1399301 30,63109164
66,48878018 47,89784346 80,0804452 127,9782887 -81,99915024 30,7415157
66,31704013 47,89784346 79,82041967 127,7182631 -81,85938931 30,85011413
66,14689542 47,89784346 79,56326447 127,4611079 -81,72068783 30,95688888
65,97838332 47,89784346 79,30901901 127,2068625 -81,58308601 31,06184241
65,81154071 47,89784346 79,05772215 126,9555656 -81,4466237 31,16497774
65,64640413 47,89784346 78,80941226 126,7072557 -81,31134037 31,26629832
65,48300978 47,89784346 78,56412719 126,4619707 -81,17727513 31,3658081
65,32139348 47,89784346 78,32190428 126,2197477 -81,04446672 31,46351147
65,16159068 47,89784346 78,08278037 125,9806238 -80,91295346 31,55941324
65,00363645 47,89784346 77,84679182 125,7446353 -80,78277328 31,65351863
64,8475655 47,89784346 77,61397447 125,5118179 -80,65396371 31,74583324
64,69341215 47,89784346 77,38436369 125,2822072 -80,52656185 31,83636303
64,54121034 47,89784346 77,15799436 125,0558378 -80,40060439 31,9251143
64,39099361 47,89784346 76,93490088 124,8327443 -80,27612758 32,01209365
64,24279513 47,89784346 76,71511718 124,6129606 -80,15316722 32,09730802
64,09664764 47,89784346 76,49867671 124,3965202 -80,03175869 32,18076458
63,95258354 47,89784346 76,28561247 124,1834559 -79,91193691 32,26247078
63,81063477 47,89784346 76,075957 123,9738005 -79,79373635 32,34243429
63,6708329 47,89784346 75,86974238 123,7675858 -79,67719101 32,42066301
63,53320912 47,89784346 75,66700024 123,5648437 -79,56233445 32,497165
63,39779416 47,89784346 75,46776179 123,3656053 -79,44919974 32,57194852
63,2646184 47,89784346 75,27205777 123,1699012 -79,3378195 32,64502197
63,13371179 47,89784346 75,07991853 122,977762 -79,22822587 32,71639385
63,00510386 47,89784346 74,89137396 122,7892174 -79,12045052 32,78607281
62,87882377 47,89784346 74,70645356 122,604297 -79,01452464 32,85406755

Setelah didapatkan hasil perhitungan, kita bisa juga mendapatkan grafik perubahan
posisi titik D tiap perubahan sudut 0<θ <360 adalah sebagai berikut:

1
Gambar 3.0.35 Grafik Perubahan Sudut Motor terhadap Posisi Titik D pada Sumbu x

Grafik Pengaruh perubahan sudut motor

terhadap posisi titk D pada sumbu Y
12

10

0
0 2 4 6 8 10 12

Gambar 3.0.36 Grafik Perubahan Sudut Motor terhadap Posisi Titik D pada Sumbu y

Perubahan Posisi titik D pada sumbu x dan

sumbu y
40
Perubahan posisi Sumbu y

35
30
25
20
15
10
5
0
-100 -95 -90 -85 -80 -75
Perubahan Poisi Sumbu

Gambar 3.0.37 Grafik Perubahan Posisi Sumbu-x dan Sumbu-y pada Posisi Titik D

3.1.6 Analisis Posisi Titik E

1
 Gambar 3.0.38 Analisis Posisi Titik D
Persamaan yang digunakan untuk menganalissis poisisi titik E adalah sebagai
berikut:

√ 2
Lbayang−bayang= ( D X −C X ) + ( DY −C Y )
2

θ DC =tan
−1
( D y −C y
D x −C x )
θcε =cos
−1
(
Lbayang−bayang DC +¿ C 2−¿ D2
2× LDC × LEC
2

)
E x =−LEC . cos ( θCD +θCE ) +C x
E y =−LEC . sin ( θ CD +θ CE ) +C Y

Berikut untuk hasil lengkapnya disajikan dalam tabel berikut dengan sudut
0<θ <360

Tabel 5 Hasil Perhitungan Analisis Titik E pada Tiap Perubahan Sudut Pada Sumbu-x
dan Sumbu-y

1
panjang bayang bayang DC Besar sudut Q CD (derajat) Besar sudut Q CE (derajat) posisi titik E x posisi titik Ey
75,93000744 -59,79095686 21,18285917 -71,2857185 -8,428683763
75,92989445 -59,97415682 21,18309855 -71,31386993 -8,386894971
75,92955495 -60,15754016 21,18381776 -71,34446006 -8,346430811
75,92898735 -60,34107772 21,18502015 -71,37749925 -8,307274508
75,92818902 -60,52474007 21,18671121 -71,41299852 -8,26940973
75,92715625 -60,70849762 21,18889868 -71,45096974 -8,232820607
75,92588429 -60,89232054 21,19159249 -71,49142552 -8,19749172
75,92436736 -61,07617876 21,19480467 -71,53437916 -8,163408092
75,9225986 -61,26004199 21,19854953 -71,57984478 -8,13055521
75,92057015 -61,44387968 21,20284346 -71,62783717 -8,098918999
75,91827311 -61,62766104 21,20770497 -71,67837187 -8,068485827
75,91569752 -61,81135505 21,21315473 -71,73146512 -8,039242511
75,91283245 -61,99493041 21,21921548 -71,78713388 -8,011176304
75,90966594 -62,17835556 21,22591199 -71,84539576 -7,984274897
75,90618504 -62,3615987 21,23327107 -71,90626904 -7,958526407
75,90237579 -62,54462772 21,24132156 -71,96977264 -7,933919387
75,89822329 -62,72741026 21,25009422 -72,03592612 -7,910442811
75,89371164 -62,90991368 21,25962176 -72,10474965 -7,88808608
75,88882399 -63,09210507 21,26993876 -72,17626394 -7,866839007
75,88354257 -63,27395121 21,28108165 -72,25049028 -7,84669182
75,87784867 -63,45541861 21,29308864 -72,32745049 -7,827635161
75,87172265 -63,63647347 21,30599974 -72,40716687 -7,809660077
75,86514401 -63,81708171 21,31985656 -72,48966218 -7,792758019
75,85809134 -63,99720895 21,33470243 -72,57495962 -7,776920836
75,85054237 -64,1768205 21,35058223 -72,66308278 -7,76214078
75,84247397 -64,35588136 21,36754239 -72,75405561 -7,748410495
75,83386221 -64,53435624 21,38563076 -72,84790235 -7,735723017
75,8246823 -64,71220952 21,40489659 -72,94464754 -7,724071777
75,81490871 -64,88940529 21,42539046 -73,04431593 -7,713450591
75,80451507 -65,0659073 21,44716424 -73,14693248 -7,70385367
75,7934743 -65,241679 21,4702709 -73,25252223 -7,695275608
75,78175858 -65,41668351 21,49476456 -73,36111036 -7,687711392
75,76933936 -65,59088362 21,52070034 -73,47272199 -7,681156396
75,7561874 -65,76424181 21,5481343 -73,5873823 -7,675606389
75,74227278 -65,93672023 21,57712337 -73,70511636 -7,671057535
75,72756495 -66,10828068 21,60772518 -73,82594903 -7,66750639
75,7120327 -66,27888467 21,6399981 -73,94990505 -7,664949918
75,69564423 -66,44849332 21,67400104 -74,07700883 -7,663385488
75,67836716 -66,61706745 21,70979342 -74,20728446 -7,662810882

1
75,66016855 -66,78456754 21,74743501 -74,34075561 -7,663224301
75,64101493 -66,95095373 21,78698587 -74,47744549 -7,664624378
75,62087233 -67,11618579 21,82850625 -74,61737672 -7,667010179
75,59970623 -67,28022318 21,87205655 -74,76057139 -7,670381226
75,57748174 -67,44302499 21,91769704 -74,9070508 -7,674737493
75,55416349 -67,60454998 21,96548795 -75,05683551 -7,680079435
75,52971569 -67,76475655 22,01548924 -75,20994525 -7,686407989
75,50410219 -67,92360274 22,06776057 -75,36639883 -7,693724599
75,47728649 -68,08104624 22,12236114 -75,52621402 -7,702031228
75,44923174 -68,23704442 22,17934959 -75,68940754 -7,71133038
75,41990083 -68,39155423 22,23878392 -75,85599493 -7,721625116
75,38925631 -68,5445323 22,30072143 -76,02599054 -7,732919077
75,35726056 -68,69593489 22,36521847 -76,19940732 -7,745216509
75,32387571 -68,84571792 22,43233047 -76,37625687 -7,758522282
75,28906371 -68,99383691 22,50211178 -76,5565493 -7,772841919
75,25278636 -69,14024705 22,5746156 -76,74029316 -7,788181624
75,21500533 -69,28490314 22,64989386 -76,92749539 -7,804548304
75,17568221 -69,42775963 22,72799711 -77,11816117 -7,821949607
75,13477851 -69,5687706 22,80897445 -77,31229392 -7,840393942
75,09225573 -69,70788975 22,89287343 -77,50989518 -7,859890523
75,04807538 -69,84507045 22,97973992 -77,71096453 -7,880449391
75,00219898 -69,98026566 23,06961817 -77,91549962 -7,902081454
74,95458813 -70,11342801 23,16255049 -78,12349591 -7,92479852
74,90520455 -70,24450974 23,25857739 -78,33494679 -7,948613333
74,85401011 -70,37346274 23,35773735 -78,54984337 -7,973539608
74,80096683 -70,50023853 23,46006687 -78,76817452 -7,999592069
74,74603696 -70,62478827 23,56560028 -78,98992672 -8,026786488
74,689183 -70,74706278 23,67436981 -79,21508409 -8,055139719
74,63036776 -70,86701248 23,78640535 -79,44362824 -8,084669738
74,56955437 -70,98458748 23,90173459 -79,67553827 -8,115395682
74,50670632 -71,09973754 24,02038282 -79,9107907 -8,147337883
74,44178753 -71,21241204 24,14237296 -80,14935943 -8,180517908
74,37476238 -71,32256004 24,26772549 -80,39121567 -8,214958595
74,30559576 -71,43013029 24,39645838 -80,63632791 -8,250684087
74,23425309 -71,53507117 24,52858707 -80,88466184 -8,287719872
74,1607004 -71,63733077 24,6641245 -81,13618038 -8,326092811
74,08490436 -71,73685686 24,80308095 -81,39084354 -8,365831172
74,00683233 -71,8335969 24,94546415 -81,64860852 -8,406964661
73,92645241 -71,92749806 25,09127916 -81,90942949 -8,449524452
73,84373352 -72,01850725 25,24052839 -82,17325773 -8,493543211
73,75864541 -72,10657106 25,39321154 -82,44004148 -8,539055123
73,67115873 -72,19163586 25,54932569 -82,709726 -8,586095909
73,58124514 -72,27364778 25,70886513 -82,98225344 -8,63470285
73,48887729 -72,3525527 25,87182146 -83,25756287 -8,684914802
73,3940289 -72,4282963 26,03818359 -83,5355903 -8,736772198
73,29667489 -72,50082407 26,20793767 -83,81626856 -8,790317072
73,19679136 -72,57008132 26,38106709 -84,09952731 -8,845593053
73,09435571 -72,63601321 26,55755252 -84,38529306 -8,902645365
72,98934668 -72,69856477 26,73737189 -84,67348909 -8,961520829
72,88174445 -72,75768094 26,92050035 -84,96403548 -9,022267845
72,77153071 -72,81330657 27,10691029 -85,25684902 -9,084936389
72,65868868 -72,86538646 27,29657138 -85,55184326 -9,149577978
72,5432033 -72,91386538 27,48945048 -85,84892845 -9,21624566
72,42506121 -72,95868815 27,68551172 -86,14801154 -9,284993971
72,30425087 -72,99979961 27,88471644 -86,44899615 -9,355878903
72,18076267 -73,03714468 28,0870232 -86,75178255 -9,428957859
72,054589 -73,07066841 28,29238778 -87,05626765 -9,504289602
71,92572431 -73,10031605 28,50076316 -87,36234499 -9,581934194
71,79416528 -73,12603299 28,71209952 -87,66990468 -9,661952937
71,65991082 -73,14776495 28,92634426 -87,97883346 -9,744408288
71,52296226 -73,16545791 29,1434419 -88,28901462 -9,829363793
71,38332341 -73,17905823 29,36333413 -88,600328 -9,916883988
71,24100068 -73,18851266 29,5859598 -88,91264997 -10,0070343
71,09600313 -73,19376844 29,81125487 -89,22585346 -10,09988096
70,94834268 -73,19477335 30,03915241 -89,5398079 -10,19549084
70,79803414 -73,19147575 30,26958254 -89,85437921 -10,2939314
70,64509537 -73,18382468 30,50247246 -90,16942985 -10,39527048
70,48954737 -73,17176991 30,73774636 -90,48481875 -10,49957622
70,3314144 -73,15526199 30,97532545 -90,80040131 -10,60691685
70,17072412 -73,13425243 31,2151279 -91,11602948 -10,71736057
70,00750773 -73,10869363 31,45706876 -91,43155162 -10,83097538
69,8418 -73,07853909 31,70106002 -91,74681268 -10,94782884
69,67363951 -73,04374345 31,94701051 -92,06165407 -11,06798795
69,50306872 -73,00426258 32,19482583 -92,37591373 -11,19151889
69,33013406 -72,96005365 32,44440841 -92,68942619 -11,31848685
69,15488613 -72,9110753 32,69565737 -93,0020225 -11,44895576
68,97737979 -72,85728768 32,94846852 -93,31353038 -11,58298809
68,79767426 -72,79865258 33,20273434 -93,62377418 -11,72064459
68,6158333 -72,73513355 33,45834387 -93,93257495 -11,86198406
68,43192527 -72,66669597 33,71518275 -94,23975051 -12,00706303

1
68,24602331 -72,59330724 33,97313309 -94,54511551 -12,15593557
68,05820537 -72,51493683 34,23207353 -94,84848153 -12,30865292
67,86855443 -72,43155642 34,49187912 -95,1496571 -12,46526326
67,67715853 -72,34314006 34,7524213 -95,44844787 -12,62581139
67,48411089 -72,24966427 35,0135679 -95,74465671 -12,79033842
67,28951004 -72,15110816 35,27518308 -96,03808379 -12,95888146
67,09345983 -72,0474536 35,53712733 -96,3285268 -13,1314733
66,89606962 -71,93868531 35,79925743 -96,61578097 -13,30814211
66,69745425 -71,82479107 36,06142641 -96,8996394 -13,48891105
66,49773419 -71,70576174 36,32348359 -97,17989309 -13,67379802
66,29703551 -71,58159154 36,58527458 -97,45633127 -13,86281525
66,09548996 -71,45227809 36,84664126 -97,72874151 -14,05596901
65,89323504 -71,31782257 37,10742177 -97,99691 -14,25325926
65,69041392 -71,17822989 37,36745059 -98,26062181 -14,45467933
65,48717551 -71,03350881 37,62655857 -98,51966112 -14,66021557
65,28367439 -70,88367209 37,88457295 -98,77381155 -14,86984703
65,08007084 -70,72873658 38,1413174 -99,02285641 -15,08354519
64,87653067 -70,56872342 38,3966122 -99,26657907 -15,30127356
64,67322525 -70,40365812 38,65027419 -99,50476328 -15,52298748
64,4703314 -70,23357072 38,90211695 -99,73719349 -15,74863376
64,26803116 -70,05849587 39,15195094 -99,9636553 -15,97815046
64,06651178 -69,87847298 39,39958356 -100,1839358 -16,2114666
63,86596548 -69,69354631 39,64481936 -100,3978239 -16,44850196
63,66658921 -69,5037651 39,88746025 -100,6051111 -16,68916683
63,46858454 -69,30918361 40,12730557 -100,8055912 -16,93336185
63,27215732 -69,10986127 40,36415242 -100,9990618 -17,18097782
63,07751739 -68,90586267 40,59779585 -101,1853236 -17,43189561
62,88487836 -68,69725773 40,82802907 -101,3641819 -17,685986
62,69445717 -68,48412164 41,05464381 -101,5354464 -17,94310962
62,50647378 -68,266535 41,27743056 -101,6989318 -18,20311695
62,32115075 -68,04458377 41,49617889 -101,8544588 -18,46584824
62,13871281 -67,81835933 41,71067784 -102,0018537 -18,73113362
61,95938645 -67,58795846 41,92071617 -102,1409498 -18,99879314
61,78339934 -67,35348331 42,1260829 -102,2715873 -19,26863688
61,61097993 -67,11504142 42,32656755 -102,3936139 -19,54046509
61,44235679 -66,87274556 42,52196069 -102,5068856 -19,81406846
61,27775818 -66,62671381 42,71205431 -102,6112665 -20,08922828
61,11741136 -66,37706935 42,89664228 -102,7066301 -20,36571675
60,961542 -66,12394042 43,07552087 -102,792859 -20,64329736
60,8103736 -65,86746019 43,2484892 -102,8698457 -20,92172521
60,66412681 -65,60776663 43,41534974 -102,9374931 -21,20074746
60,52301875 -65,34500232 43,57590883 -102,9957144 -21,48010376
60,38726242 -65,07931431 43,72997719 -103,0444339 -21,75952682
60,25706592 -64,81085391 43,87737049 -103,0835873 -22,03874288
60,13263189 -64,53977654 44,01790979 -103,1131214 -22,31747236
60,01415672 -64,26624139 44,15142214 -103,1329953 -22,59543042
59,90182995 -63,99041127 44,2777411 -103,1431797 -22,87232767
59,79583357 -63,71245238 44,3967072 -103,1436578 -23,14787083
59,69634138 -63,43253393 44,50816853 -103,1344247 -23,42176344
59,60351834 -63,15082799 44,61198116 -103,1154883 -23,69370662
59,51751999 -62,86750907 44,70800969 -103,0868688 -23,9633998
59,43849178 -62,58275394 44,79612764 -103,0485987 -24,23054152
59,3665686 -62,29674124 44,87621796 -103,0007231 -24,49483022
59,30187419 -62,00965118 44,94817338 -102,9432994 -24,75596504
59,24452067 -61,72166524 45,01189686 -102,8763973 -25,01364661
59,19460807 -61,43296579 45,06730188 -102,8000983 -25,26757785
59,15222396 -61,14373584 45,11431279 -102,714496 -25,5174648
59,11744305 -60,85415864 45,15286509 -102,6196954 -25,76301741
59,09032689 -60,56441738 45,18290569 -102,515813 -26,00395026
59,07092364 -60,27469484 45,20439304 -102,402976 -26,23998343
59,05926783 -59,98517313 45,2172974 -102,2813224 -26,47084313
59,05538024 -59,69603328 45,22160085 -102,1510005 -26,69626249
59,05926783 -59,407455 45,2172974 -102,0121682 -26,91598222
59,07092364 -59,11961635 45,20439304 -101,8649929 -27,12975129
59,09032689 -58,83269344 45,18290569 -101,7096506 -27,33732752
59,11744305 -58,54686019 45,15286509 -101,546326 -27,5384782
59,15222396 -58,26228797 45,11431279 -101,3752112 -27,7329806
59,19460807 -57,97914547 45,06730188 -101,1965061 -27,92062252
59,24452067 -57,69759835 45,01189686 -101,0104169 -28,1012027
59,30187419 -57,41780905 44,94817339 -100,8171561 -28,27453126
59,3665686 -57,13993654 44,87621796 -100,6169417 -28,44043008
59,43849178 -56,86413622 44,79612764 -100,4099971 -28,59873309
59,51751998 -56,59055961 44,70800969 -100,1965495 -28,74928657
59,60351834 -56,31935427 44,61198117 -99,97683031 -28,89194935
59,69634137 -56,05066359 44,50816854 -99,75107418 -29,02659302
59,79583357 -55,78462669 44,3967072 -99,51951833 -29,15310204
59,90182995 -55,5213783 44,2777411 -99,28240213 -29,27137382
60,01415672 -55,2610486 44,15142214 -99,03996648 -29,38131877
60,13263189 -55,00376321 44,01790979 -98,79245331 -29,4828603
60,25706592 -54,74964304 43,87737049 -98,54010498 -29,57593477
60,38726241 -54,49880428 43,7299772 -98,28316382 -29,66049138
60,52301875 -54,2513583 43,57590883 -98,02187162 -29,73649211
60,66412681 -54,00741168 43,41534974 -97,75646913 -29,80391146
60,8103736 -53,76706615 43,2484892 -97,48719561 -29,86273634
60,961542 -53,53041855 43,07552087 -97,21428842 -29,91296581
61,11741136 -53,29756087 42,89664228 -96,93798252 -29,95461078
61,27775819 -53,06858031 42,7120543 -96,65851021 -29,98769381
61,4423568 -52,84355916 42,52196068 -96,37610062 -30,01224871
61,61097992 -52,62257499 42,32656755 -96,09097949 -30,02832025
61,78339934 -52,4057006 42,1260829 -95,80336874 -30,03596382
61,95938644 -52,19300407 41,92071618 -95,51348625 -30,035245
62,13871282 -51,98454887 41,71067784 -95,22154559 -30,02623921
62,32115075 -51,78039388 41,49617889 -94,92775573 -30,00903133
62,50647378 -51,58059347 41,27743056 -94,63232086 -29,98371521
62,69445718 -51,3851976 41,0546438 -94,33544018 -29,95039332
62,88487836 -51,19425185 40,82802907 -94,03730773 -29,90917627
63,0775174 -51,00779761 40,59779584 -93,73811225 -29,86018243
63,27215732 -50,82587203 40,36415242 -93,43803704 -29,80353743
63,46858454 -50,64850826 40,12730557 -93,13725992 -29,73937374
63,66658921 -50,47573543 39,88746026 -92,83595305 -29,66783027
63,86596547 -50,30757885 39,64481937 -92,53428296 -29,58905189
64,06651179 -50,14406004 39,39958355 -92,23241047 -29,50318899
64,26803117 -49,9851969 39,15195093 -91,93049072 -29,41039709
64,4703314 -49,83100378 38,90211695 -91,6286731 -29,31083641
64,67322526 -49,68149161 38,65027419 -91,32710132 -29,20467142
64,87653066 -49,53666799 38,3966122 -91,02591341 -29,09207048
65,08007083 -49,39653733 38,14131741 -90,72524182 -28,97320541
65,28367439 -49,26110095 37,88457295 -90,42521345 -28,84825111
65,4871755 -49,1303572 37,62655858 -90,12594971 -28,71738521
65,69041392 -49,00430158 37,36745059 -89,82756665 -28,58078767
65,89323504 -48,88292684 37,10742176 -89,53017505 -28,43864045
66,09548996 -48,76622308 36,84664126 -89,2338805 -28,29112715
66,29703551 -48,6541779 36,58527458 -88,93878356 -28,13843271
66,49773419 -48,54677648 36,32348359 -88,64497987 -27,98074309
66,69745426 -48,44400171 36,0614264 -88,35256028 -27,81824493
66,89606962 -48,34583429 35,79925743 -88,06161099 -27,65112531
67,09345983 -48,25225282 35,53712734 -87,77221371 -27,47957147
67,28951003 -48,1632339 35,27518309 -87,4844458 -27,3037705
67,4841109 -48,07875232 35,01356789 -87,19838042 -27,12390915
67,67715853 -47,99878102 34,7524213 -86,9140867 -26,94017356

1
1
Gambar 3.0.39 Grafik Perubahan Sudut Motor terhadap Posisi Titik E pada Sumbu X

Gambar 3.0.40 Grafik Perubahan Sudut Motor terhadap Posisi Titik E pada Sumbu y

Chart Title
0
-110 -105 -100 -95 -90 -85 -80 -75 -70 -65
-5

-10

-15

-20

-25

-30

-35

1
Gambar 3.0.41 Grafik Perubahan Sudut Motor terhadap Posisi Titik E pada Sumbu y

3.1.7 Analisis Posisi Titik F

Gambar 3.0.42 Analisis Posisi Titik C

Persamaan yang digunakan untuk menganalissis posisi titik F adalah sebagai

berikut:

( )
2 2 2
−1 LC E + LC F −¿ F
δ =cos
2× LEC × LCF

( )
2 2 2
−1 39 +47 −68
δ=cos =104,11
2 ×39 × 47

F x =C x −LCF . cos ( δ +θCE +θCD )

−54,46=−38,86−47. cos ( 104,11−33,24 )

F Y =CY −LCF . sin ( δ+ θCE +θ CD )

−76,056=−31,667−47. sin (104,11−33,24 )

Setelah didapatkan hasil perhitungan juga kita bisa mendapatkan grafik
perubahan poisis titik C tiap perubahan sudut 0<θ <360 adalah sebagai berikut:

Tabel 6 Tabel Hasil Perhitungan Analisis Titik F pada Tiap Perubahan Sudut Pada
Sumbu-x dan Sumbu-y

1
panjang link ec panjang link cf panjang link EF besar cos n besar sudut total (n+QCE+QCD) (derajat) sudut total eln FX FY
39 47 68 -0,24386252 104,1146222 65,50652451 -60,2956 -75,5347
39 47 68 -0,24386252 104,1146222 65,32356393 -60,5381 -75,5277
39 47 68 -0,24386252 104,1146222 65,14089979 -60,7828 -75,5212
39 47 68 -0,24386252 104,1146222 64,95856463 -61,0296 -75,5153
39 47 68 -0,24386252 104,1146222 64,77659334 -61,2786 -75,51
39 47 68 -0,24386252 104,1146222 64,59502326 -61,5297 -75,5052
39 47 68 -0,24386252 104,1146222 64,41389414 -61,7829 -75,5009
39 47 68 -0,24386252 104,1146222 64,2332481 -62,0381 -75,4971
39 47 68 -0,24386252 104,1146222 64,05312974 -62,2953 -75,4937
39 47 68 -0,24386252 104,1146222 63,87358598 -62,5544 -75,4909
39 47 68 -0,24386252 104,1146222 63,69466612 -62,8155 -75,4884
39 47 68 -0,24386252 104,1146222 63,51642188 -63,0783 -75,4864
39 47 68 -0,24386252 104,1146222 63,33890726 -63,343 -75,4849
39 47 68 -0,24386252 104,1146222 63,16217862 -63,6094 -75,4837
39 47 68 -0,24386252 104,1146222 62,98629457 -63,8775 -75,4829
39 47 68 -0,24386252 104,1146222 62,81131604 -64,1473 -75,4825
39 47 68 -0,24386252 104,1146222 62,63730615 -64,4186 -75,4825
39 47 68 -0,24386252 104,1146222 62,46433027 -64,6915 -75,4828
39 47 68 -0,24386252 104,1146222 62,29245588 -64,9658 -75,4835
39 47 68 -0,24386252 104,1146222 62,12175263 -65,2415 -75,4845
39 47 68 -0,24386252 104,1146222 61,95229223 -65,5186 -75,4859
39 47 68 -0,24386252 104,1146222 61,78414846 -65,7969 -75,4876
39 47 68 -0,24386252 104,1146222 61,61739704 -66,0764 -75,4897
39 47 68 -0,24386252 104,1146222 61,45211568 -66,357 -75,492
39 47 68 -0,24386252 104,1146222 61,28838393 -66,6386 -75,4947
39 47 68 -0,24386252 104,1146222 61,12628323 -66,9212 -75,4978
39 47 68 -0,24386252 104,1146222 60,96589672 -67,2048 -75,5012
39 47 68 -0,24386252 104,1146222 60,80730926 -67,4891 -75,5049
39 47 68 -0,24386252 104,1146222 60,65060737 -67,7742 -75,5089

1
39 47 68 -0,24386252 104,1146222 60,49587913 -68,0599 -75,5133
39 47 68 -0,24386252 104,1146222 60,3432141 -68,3462 -75,518
39 47 68 -0,24386252 104,1146222 60,19270325 -68,6329 -75,5231
39 47 68 -0,24386252 104,1146222 60,04443891 -68,9201 -75,5286
39 47 68 -0,24386252 104,1146222 59,89851468 -69,2076 -75,5344
39 47 68 -0,24386252 104,1146222 59,75502533 -69,4953 -75,5406
39 47 68 -0,24386252 104,1146222 59,61406669 -69,7831 -75,5472
39 47 68 -0,24386252 104,1146222 59,47573563 -70,0709 -75,5542
39 47 68 -0,24386252 104,1146222 59,34012992 -70,3587 -75,5617
39 47 68 -0,24386252 104,1146222 59,20734817 -70,6464 -75,5695
39 47 68 -0,24386252 104,1146222 59,07748966 -70,9338 -75,5778
39 47 68 -0,24386252 104,1146222 58,95065434 -71,2208 -75,5866
39 47 68 -0,24386252 104,1146222 58,82694266 -71,5074 -75,5959
39 47 68 -0,24386252 104,1146222 58,70645556 -71,7934 -75,6056
39 47 68 -0,24386252 104,1146222 58,58929424 -72,0788 -75,6159
39 47 68 -0,24386252 104,1146222 58,47556016 -72,3635 -75,6267
39 47 68 -0,24386252 104,1146222 58,36535489 -72,6473 -75,6381
39 47 68 -0,24386252 104,1146222 58,25878002 -72,9302 -75,6501
39 47 68 -0,24386252 104,1146222 58,15593708 -73,2119 -75,6626
39 47 68 -0,24386252 104,1146222 58,05692736 -73,4926 -75,6758
39 47 68 -0,24386252 104,1146222 57,96185189 -73,772 -75,6897
39 47 68 -0,24386252 104,1146222 57,87081133 -74,05 -75,7042
39 47 68 -0,24386252 104,1146222 57,78390577 -74,3265 -75,7194
39 47 68 -0,24386252 104,1146222 57,70123474 -74,6014 -75,7354
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1
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1
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1
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39 47 68 -0,24386252 104,1146222 74,74012441 -51,2513 -77,0204
39 47 68 -0,24386252 104,1146222 74,54015377 -51,384 -76,9616
39 47 68 -0,24386252 104,1146222 74,34108819 -51,5187 -76,904
39 47 68 -0,24386252 104,1146222 74,14290004 -51,6552 -76,8478
39 47 68 -0,24386252 104,1146222 73,94556072 -51,7937 -76,7929
39 47 68 -0,24386252 104,1146222 73,74904083 -51,9341 -76,7393
39 47 68 -0,24386252 104,1146222 73,55331028 -52,0764 -76,687
39 47 68 -0,24386252 104,1146222 73,35833843 -52,2208 -76,6359
39 47 68 -0,24386252 104,1146222 73,16409413 -52,3671 -76,5862
39 47 68 -0,24386252 104,1146222 72,97054587 -52,5155 -76,5379
39 47 68 -0,24386252 104,1146222 72,77766198 -52,6658 -76,4908
39 47 68 -0,24386252 104,1146222 72,5854106 -52,8183 -76,445
39 47 68 -0,24386252 104,1146222 72,39375986 -52,9728 -76,4004
39 47 68 -0,24386252 104,1146222 72,20267805 -53,1294 -76,3572
39 47 68 -0,24386252 104,1146222 72,01213362 -53,2881 -76,3153
39 47 68 -0,24386252 104,1146222 71,82209534 -53,449 -76,2746
39 47 68 -0,24386252 104,1146222 71,63253246 -53,612 -76,2352
39 47 68 -0,24386252 104,1146222 71,4434147 -53,7772 -76,197
39 47 68 -0,24386252 104,1146222 71,25471242 -53,9447 -76,1601
39 47 68 -0,24386252 104,1146222 71,06639676 -54,1143 -76,1244
39 47 68 -0,24386252 104,1146222 70,87843963 -54,2862 -76,0899
39 47 68 -0,24386252 104,1146222 70,69081389 -54,4603 -76,0566
39 47 68 -0,24386252 104,1146222 70,50349341 -54,6367 -76,0245
39 47 68 -0,24386252 104,1146222 70,31645318 -54,8154 -75,9935
39 47 68 -0,24386252 104,1146222 70,12966936 -54,9965 -75,9637
39 47 68 -0,24386252 104,1146222 69,94311937 -55,1798 -75,935
39 47 68 -0,24386252 104,1146222 69,756782 -55,3655 -75,9075
39 47 68 -0,24386252 104,1146222 69,57063749 -55,5536 -75,881
39 47 68 -0,24386252 104,1146222 69,38466757 -55,744 -75,8556
39 47 68 -0,24386252 104,1146222 69,19885552 -55,9368 -75,8313
39 47 68 -0,24386252 104,1146222 69,0131863 -56,1319 -75,8081
39 47 68 -0,24386252 104,1146222 68,82764654 -56,3295 -75,7858
39 47 68 -0,24386252 104,1146222 68,64222474 -56,5295 -75,7645
39 47 68 -0,24386252 104,1146222 68,4569111 -56,7319 -75,7443
39 47 68 -0,24386252 104,1146222 68,2716978 -56,9367 -75,7249
39 47 68 -0,24386252 104,1146222 68,08657893 -57,1439 -75,7065
39 47 68 -0,24386252 104,1146222 67,90155057 -57,3535 -75,6891
39 47 68 -0,24386252 104,1146222 67,71661086 -57,5656 -75,6725
39 47 68 -0,24386252 104,1146222 67,53176003 -57,78 -75,6567
39 47 68 -0,24386252 104,1146222 67,34700037 -57,9969 -75,6419
39 47 68 -0,24386252 104,1146222 67,16233645 -58,2162 -75,6278
39 47 68 -0,24386252 104,1146222 66,97777491 -58,4378 -75,6146
39 47 68 -0,24386252 104,1146222 66,79332475 -58,6619 -75,6021
39 47 68 -0,24386252 104,1146222 66,60899713 -58,8883 -75,5904
39 47 68 -0,24386252 104,1146222 66,42480559 -59,117 -75,5794
39 47 68 -0,24386252 104,1146222 66,24076589 -59,3481 -75,5691
39 47 68 -0,24386252 104,1146222 66,05689626 -59,5816 -75,5595
39 47 68 -0,24386252 104,1146222 65,87321716 -59,8173 -75,5506
39 47 68 -0,24386252 104,1146222 65,68975147 -60,0553 -75,5423
39 47 68 -0,24386252 104,1146222 65,50652451 -60,2956 -75,5347

1
 Gambar 3.0.43 Grafik Perubahan Sudut Motor terhadap Posisi Titik F pada Sumbu X

Gambar 3.0.44 Grafik Perubahan Sudut Motor terhadap Posisi Titik F pada Sumbu X

Gambar 3.0.45 Grafik Perubahan Sudut Motor terhadap Posisi Titik F pada Sumbu y

3.2 Kecepatan Robot

3.2.1 Analisis Kecepatan Metode Grafis
Berikut hasil analisis kecepatan dengan metode grafis untuk sudut driver link 30
derajat dengan gerakan counter clockwise :

1
 Gambar 3.0.46 Diagram Link Driver pada Sudut 30 Derajat
Tabel 1 Tabel Analisis Perhitungan Kecepatan 30 Derajat
Joint Link Length (mm) Angular Velocity Direction
(Batang) speed (rad/s) (mm/s)
A OA 13 20.95238095 272,381
mm/s

B AB 73 3.955931507 288,783
mm/s

B O’B 44 1.299727273 57,188 mm/s

D BD 34 1.666588235 56,664 mm/s

D O’D 39 1.946384615 75.909 mm/s

1
 C AC 63 2.77068254 174,553
mm/s

C O’C 37 6.179297297 228,634

mm/s
E CE 39 3.573923077 139,383
mm/s

E DE 42 4.404642857 184.995
mm/s
F CF 47 3.573340426 167.947

F EF 68 3.573470588 242,996
mm/s

Berikut adalah diagram kecepatan untuk sudut driver link 60 derajat dengan
gerakan counter clockwise, seperti berikut :

Gambar 3.0.47 Diagram Analisis Kecepatan Fourbar Link OABO’ dengan Sudut Driver
Link 60 Derajat

1
 Gambar 3.0.48 Diagram Analisis Kecepatan Fourbar Link OACO’ dengan Sudut Driver
Link 60 Derajat

Gambar 3.0.49 Diagram Analisis Kecepatan Link Berbentuk Segitiga O’BD dengan Kondisi
Sudut Driver Link 60 Derajat

1
 Gambar 3.0.50 Diagram Analisis Kecepatan Fourbar Link O’CED dengan Kondisi Sudut
Driver Link 60 Derajat

Gambar 3.0.51 Diagram Analisis Kecepatan Link Segitiga CEF dengan Kondisi Sudut
Driver Link 60 Derajat dengan Gerakan Counter Clockwise (Berlawanan Arah Jarum Jam)
Tabel 2 Tabel Analisis Perhitungan Kecepatan 60 Derajat
Joint Link Length (mm) Angular Velocity Direction
speed (rad/s) (mm/s)
OA 13 20.95238095 272.38 mm/s

1
 AB 73 3.169972603 231.408
mm/s

O’B 44 1.636931818 72.025 mm/s

BD 34 1.636941176 55.656 mm/s

O’D 39 1.636769231 63.834 mm/s

AC 63 1.483079365 93.414 mm/s

O’C 37 7.507324324 277.771

mm/s
CE 39 3.264564103 127.318
mm/s

DE 42 5.619404762 236.015
mm/s
CF 47 3.264021277 153.409
mm/s

EF 68 3.263661765 221.929
mm/s

3.2.2 Analisis Kecepatan dengan Metode Analitis

3.2 2.1 Analisis Kecepatan Titik A(LOA/Batang OA)
nmotor =200 rpm
2 πn
w=
60
2× π × 200
w= =20,952381rad /sec
60
V OA =w × LOA
V OA =20,952381× 13=¿ 272,38 mm/sec

1
 PERUBAHAN SUDUT MOTOR TERHADAP
PERUBAHAN KECEPATAN LINEAR LINK OA
12

10

0
0 2 4 6 8 10 12

Gambar 3.0.52 Grafik Perubahan Sudut Motor Terhadap Perubahan Kecepatan Linear Link
OA
Pada grafik di atas terlihat bahwa grafik lurus artinya tidak ada perubahan
kecepatan pada link OA karena link tersebut yang pertama mendapatkan
putaran dari motor dan tidak mengalami percepatan maupun perlembatan. Hal
ini dikarenakan link tersebut tidak terpengaruh dengan link-link lainnya.

3.2.2.2 Analisis Kecepatan Titik B (LAB/Batang AB)

Berikut contoh perhitungan pada perubahan sudut motor 30o
−LOA × w L AB × sin ⁡(θO B−θmotor )
'

W AB =
L AB ×sin ⁡(θO B −θ AB )
'

−13× 3,744 ×sin ( 98 −30 )

o o
3,74=
73 ×sin ( 98 −30,48 )
o o

V AB=w AB × L AB
273,32=3,74 × 73
Untuk hasil selengkapnya disajikan dalam tabel berikut ini :
Tabel Kecepatan Link AB

1
1
1
1
1
Dari hasil perhitungan pada tabel di atas dapat dibuat grafik sebagai berikut:

1
 Pengaruh perubahan sudut putaran motor
terhadap kecepatan linear link AB
12

10

VAB (mm/s) 8

0
0 2 4 6 8 10 12
DERAJAT

Gambar 3.0.53 Grafik Pengaruh Perubahan Sudut Putaran Motor Terhadap Kecepatan
Linear Link AB
Pada gambar di atas membentuk gelombang cosinus atau dapat diartikan link
tersebut mengalami percepatan dan perlambatan. Seperti terlihat pada grafik
pada sudut 0 o link AB memiliki kecepatan 280,05 mm/sec. Lalu mulai
mengalami perlambatan pada sudut 110o link AB memiliki kecepatan 242,18
mm/sec. Dan naik mulai naik pada sudut 298o kecepatan link AB adalah 7,36
mm/
3.2.2.3. Analisis Kecepatam Titik C(LAC/Batang AC)
LOA ×sin ( θO C −θ motor )
'

W Ac =
L AC ×sin ( θ O C −θ AC )
'

13 ×sin ( 121,43−30 )
−4,33=
63× sin ( 12,43−26,56 )
V AC =w × L AC
−4,33× 63=−273,19
Dari contoh perhitungan di atas untuk hasil selenngkapnya disajikan pada
tabel di di bawah ini:

1
1
1
1
 Setelah didapatkan hasil perhiyungan untuk perubahan sudut 0<θ <360, maka
akan didapatkan grafik sebagai berikut:

Gambar 3.35 Grafik Pengaruh Perubahan Sudut Putaran Motor Terhadap

Kecepatan Linear Link AC
Gambar 0.54 Grafik Pengaruh Perubahan Sudut Putaran Motor Terhadap Kecepatan Linear Link AC

Pada gambar di atas membentuk gelombang cosinus atau dapat diartikan link
tersebut mengalami percepatan dan perlambatan. Seperti terlihat pada grafik

1
 pada sudut 0 o link AC memiliki kecepatan -261,90 mm/sec. Lalu mulai
mengalami pecepatan dengan grafik naik pada sudut 60o link AC memiliki
kecepatan -232,72 mm/sec. Dan mulai turun lagi pada sudut 310o kecepatan
link AC adalah -13,486 mm/sec

3.2.2.4 Analisis Kecepatan Link O’B

Dengan mengambil contoh pada sudut motor 30o , maka didaptkan perhitungan sebagi
berikut:
LOA ×ω OA ×sin ( θmotor ) +ω AB × L AB ×sin ( θ AB )
ω O ' B=
LO' B ×sin ⁡(θO B )
'

13 ×90,952381 ×sin ( 30 ) +3,74 ×73 sin ( 30,48 )

o o
0,0571=
44 × sin ( 98 )
o

V O B =wO B × LO ;B
' '

2,514=0,0571 ×44
Dari conoh perhitungan di atas kan di dapatkan tabel perhitungan sebagai berikut

1
1
1
1
1
Dari hasil perhitungan di atas didapatkan grafik sebagai berikut:

Gambar 3.35 Grafik Pengaruh Perubahan Sudut Putaran Motor Terhadapa Kecepatan
Linear Link O’B
Pada gambar di atas membentuk gelombang cosinus atau dapat diartikan link
tersebut mengalami percepatan dan perlambatan. Seperti terlihat pada grafik pada
sudut 0 o link O’B memiliki kecepatan 168,79 mm/sec. Lalu mulai mengalami

1
 perlambatan pada sudut 150o link O’B memiliki kecepatan –365,95 mm/sec. Dan
naik mulai naik pada sudut 310o kecepatan link O’B adalah 300,448 mm/sec.

3.2.2.5 Analisis Kecepatan Link O’C

LOA × ωOA ×sin ( θ motor ) + ω AC × L AC × sin ( θ AC )

ωO ' C =
LO ' C × sin ⁡( θ O C )
'

13 × 20,95× sin ( 30 ) −4,33 ×63 × sin ( 26,56 )

o o
−8,15=
37 ×sin ( 121,43 )
o

' '
V o c=wo, c × L o c
−310,88=37 ×−8,15
Dari contoh perhitungan di atas hasil selengkapnya disajikan dalam tabel dibawah ini:
Tabel Kecepatan link O’C

1
1
1
1
 Dari tabel di atas dapat dibuat grafik seperti pada gambar berikut

Gambar 3.36 Grafik Pengaruh Perubahan Sudut Putaran Motor Terhadapa Kecepatan
Linear Link O’C
Pada gambar di atas membentuk gelombang cosinus atau dapat diartikan link tersebut
mengalami percepatan dan perlambatan. Seperti terlihat pada grafik pada sudut 0 o link
O’C memiliki kecepatan -141,95 mm/sec. Lalu mulai mengalami perlambatan pada
sudut link O’C memiliki kecepatan 61,22 mm/sec. Dan naik mulai naik pada sudut
310 kecepatan link O’B adalah 123,37 mm/sec
1
 3.2.2.6 Analisis Kecepatan Link O’D
Dengan mengambil contoh perhitungan pada sudut 30o adalah sebagai berikut::
w O D =wO C
' '

V o' c V O D '

=
Lo , c LO D '

'
Voc
V O D=
'
'
× LO D '

Lo c
301
2,22= × 37
37

Berikut hasil perhitungan selengkapnya untuk susdut0<θ <360adalah sebagi berikut:

1
1
1
1
1
Setelah didapatkan hasil perhitungan pada tabel dapat dibuat grafik seperti pada gambar di
bawah ini:

Gambar 3.37 Grafik Pengaruh Perubahan Sudut Putaran Motor Terhadapa

Kecepatan Linear Link O’D
Pada gambar di atas membentuk gelombang cosinus atau dapat diartikan link
tersebut mengalami percepatan dan perlambatan. Seperti terlihat pada grafik pada
sudut 0 o link O’C memiliki kecepatan 149,611 mm/sec. Lalu mulai mengalami

1
 perlambatan pada sudut60o link O’C memiliki kecepatan –159,14 mm/sec. Dan
naik mulai naik pada sudut kecepatan link O’B adalah 266,143 mm/sec

3.2.2.7 Perbedaan Kecepatan Desain dengan Kecepatan Realtime

Gambar 3.38 Grafik Perbedaan Kecepatan Desain dengan Kecepatan Realtime

Dari grafik di atas terlihat bahwa kecepatan yang diharapkan dengan kecepatan pada
saat robot hasil desain dijalankan berbeda. Hal ini disebabkan karena adanya gesekan antara
joint, gesekan antar dinding lantai atau kemungkinan karena lantai terlalu licin sehingga
robotslip saat melangkah. Untuk mencegah hal ini sudah dilakukan pencegahan antara lain
sedikit mengendorkan baut pada joint untuk mengurangi gesekan natar link. Yang keddua
dengan memasang bantalan pada kaki agar robot dapat menapak tanpa tergelincir. Yang
ketiga adalah membuat desain seringan mungkin dengan menggunakan baut yang akrilik.

3.3 Analisis Percepatan

Buat diagram percepatan untuk mengestimasi percepatan tiap centroid link, Gambar 1.
Sertakan tabel analisis perhitungan kecepatan, Tabl 4.

1
1
 Gambar 2 Diagram percepatan tiap link

Tabel 4 Analisis Percepatan Kondisi Perubahan Sudut Motor 30 Derajat

Joint Link Length Percepat Percepatan Percepatan Direction
(mm) an Tangensial Total
normal (mm/s^2) (mm/s^2)
(mm/s^2
)
A OA 13 0 5707,029477
5707,02
9477

1
B AB 73 788.243 1387.955
1142,40
5768

B O’B 44 74.3288 4842.463 4843.033

0327

D BD 34 94.4355 129,437 160,225

5576

D O’D 39 147.748 181,974 234,401

1098

C AC 63 483.630 3016,157 3054,685

9493

C O’C 37 1412.79 2991 3308,126

7458

E CE 39 498.144 2265,183 2319,311

1202

1
 E DE 42 814.836 2131,235 2288,976
9054

F CF 47 600.131 664,479 895,356

8044

F EF 68 868.339 218,288 895,356

0591

Penjelasan intepretasi/makna :

1. Pada tabel pertama dengan link OA, dapat diketahui bahwa link OA tidak memiliki
nilai besaran percepatan ataupun perlambatan tangensial, dikarenakan link OA adalah
link yang pertama kali direct atau terhubung langsung dengan shaft motor, sehingga
link OA tidak dapat mengalami percepatan maupun perlambatan perubahan sudut
terhadap waktu, dan karena link OA hanya memiliki nilai percepatan normal saja
maka percepatan total link OA memiliki arah percepatan total yang selalu ke arah titik
awal nya.
2. Pada tabel kedua dengan link AB

Jelaskan dan berikan makna/interpretasi anda terhadap hasil tersebut.

3.4 Analisis Gaya dan Torsi

Buat diagram gaya untuk mengestimasi gaya tiap centroid link dan perhitungan torsi
penggerak, Gambar 1. Sertakan tabel analisis perhitungan kecepatan, Table 3.

1
 Gambar 5 Diagram gaya

3.5 Daya penggerak

1. Jelaskan hasil perhitungan daya penggerak dan tunjukkan pemilihan spesifikasi
motor penggerak untuk robot anda.
Spesifikasi motor penggerak untuk robot mechanism jansen yang kami pakai memiliki
spesifikasi seperti berikut :

1
 Sehingga perhitungan daya motor penggerak sebagai berikut :
Dik :
berat seluruh desain robot mekanisme jansen kami adalah 215 gram = 0,215 kilogram
Putaran motor = 200 rpm
Sehingga kecepatan putaran v = (2 x (22/7) x putaran motor x link OA)
V = 2 x (22/7)
V = ( 2 X (22/7) X 200 X 0,013) = 0,27238 m/s
Menghitung besar gaya yang bekerja akibat motor
F = m x (V^2 / r )
Dimana r adalah sama saja dengan Panjang link OA yaitu 0,013, sehingga besar gaya yang bekerja
F= 0,215 x (0,27238^2) / (0,013)
F = 0,00020736 Newton
Torsi = F x r = 0,00020736 x 0,013
Torsi = 2,69568 x 10^-6 Newton-Meter
Setelah mengetahui besar torsi, maka kita dapat menghitung nilai daya motor pada mekanisme
jansen seperti berikut :

3.6 Kelebihan dan Kekurangan Rancangan

Berikut kelebihan dan kekurangan rancangan robot mekanisme Jansen yang telah
dibuat:
a. Kelebihan
1. Mampu berjalan lurus dan seimbang

1
 2. Memiliki struktur yang rigid
b. Kekurangan
1. Memiliki struktur yang kecil sehingga memiliki langkah yang kecil untuk
menyiasati hal tersebut kelompok 4 memilih putaran dinamo sebesar 200 rpm
2. Sempat berjalan berputar pada saat awal perakitan prototipe karena shaft tidak
o
180 dan tidak mampu menumpu torsional stress. Langkah yang diambil
untuk perbaikan adalah link OA antara kiri dan kanan harus memiliki putaran
yang berbeda (kiri = searah jarum jam/clockwise sedangkan kanan =
berlawanan arah jarum jam/counter clockwise)
3. Awal perancangan shaft yang digunakan adalah tusuk gigi yang menyebabkan
adanya momen puntir karena suaian longgar antara tusuk gigi dan dinamo. Hal
yang dilakukan untuk memperbaiki ini adalah dengan menggunakan shaft
yang terbuat dari besi. Namun, hal ini hanya mengurangi sedikit permasalahan
mengenai momen puntir yang terjadi. Untuk memperbaiki hal ini, dilakukan
pengeleman pada sambungan shaft dan dinamo.

1
 BAB IV
KESIMPULAN DAN SARAN

4.1 Kesimpulan
Dari beberapa minggu dalam penyusunan dan analisis robot mekanisme jansen dapat disi/mpulkan
sebagai beriku:
1. Untuk merancang sebuah robot jansen diperlukan pertimbangan-pertimbangan tertentu dalam
pemilihan bahan karena dapat mempengaruhi performa dari robot jansen saat diujikan
2. Analisis kinematika dan dinamika dari robot jansen dilakukan mulai dari analisis posisi, kecepatan
dan percepatan, gaya dan torsi.
3. Setiap hasil analisis yang didapatkan sangat membantu dalam interpretasi pembuatan robot jansen
ini. Seperti halnya analisis posisi sampai tapak kaki, jika kita bisa menganalisis posisi sampai tapak
kaki maka kita dapat menentukan desain yang kita buat bisa berjalan atau tidak
4. Hasil analisis kecepatan dan percepatan membantu kita untuk menentukan seberapa cepat robot
dapat berjalan dan memabntu untuk meningkatkan kecepatan dan percepatan dari robot dengan
menambah putaran dari motor dan mampu memperirakan kemungkinan-kemungkinan kegagalan dari
robot jansen ini

5. Analisisi gaya dan torsi membantu dalam menentukan apakah gaya yang bekerja pada benda akan
mempercepat atau justru memperlambat pergerakan dari robot jansen

4.2 Saran
Saran yang dapat diberikan untuk mengatasi berbagai kendala, baik dalam analisis
dan prototype adalah sebagai berikut:
1. Dibutuhkannya kesabaran dan kerja sama yang baik antara anggota tim ketika
melakukan analisis.
2. Pembuatan prototipe harus rigid agar tidak mengalami pergeseran tiap link.
3. Perlu diperhatikan dalam penyusunan tiap batang harus sama agar persebaran
gaya tiap link tidak terjadi ketimpangan.
4. Penyusunan kaki harus berkebalikan antara kiri dan kanan.

1
 REFERENSI

Giesbrecht, D.F. (2010). Design and optimization of a one-degree-of-freedom eight-bar leg

mechanism for a walking machine.
Pop, Florina & Dolga, Valer & Ciontos, Ovidiu & Pop, Cristian. (2011). CAD design and
analytical model of a twelve bar walking mechanism. UPB Scientific Bulletin, Series
D: Mechanical Engineering. Volume 73. Pages 35-48.

1
LAMPIRAN