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Pemodelan Dinamik Robot Lengan 2-DOF Menggunakan Denavit–Hartenberg Untuk Evaluasi Torsi Sendi

Authors

  • Anisa Ulya Universitas Lampung
  • Umi Murdika Jurusan Teknik Elektro, Program Studi Teknik Elektro, Fakultas Teknik, Universitas Lampung, Indonesia
  • Aryanto Jurusan Teknik Elektro, Program Studi Teknik Elektro, Fakultas Teknik, Universitas Lampung, Indonesia
  • Ageng Sadnowo Repelianto Jurusan Teknik Elektro, Program Studi Teknik Elektro, Fakultas Teknik, Universitas Lampung, Indonesia

DOI:

https://doi.org/10.55616/ajeetech.v6i1.1173

Keywords:

Robot lengan 2-DOF, Denavit–Hartenberg, Lagrange–Euler, pemodelan dinamik, torsi sendi

Abstract

Perkembangan robotika menuntut robot lengan bekerja dengan presisi dan aman, sehingga perancangan kendali tidak cukup hanya mengandalkan kinematika, tetapi memerlukan model dinamik yang mampu memetakan hubungan antara posisi, kecepatan, percepatan sendi, dan torsi aktuator. Penelitian ini merancang model dinamika robot lengan 2-DOF menggunakan parameter Denavit–Hartenberg (DH) dan pendekatan Lagrange–Euler untuk menganalisis kebutuhan torsi pada setiap sendi selama mengikuti lintasan gerak tertentu. Model dinamik diturunkan secara simbolik sehingga diperoleh bentuk , kemudian dievaluasi secara numerik pada lintasan sinusoidal dengan parameter kg, kg, m, m, dan m/s² selama 0–5 s ( s). Hasil simulasi menunjukkan bahwa respon posisi sendi mencapai sekitar rad dan rad, sedangkan torsi sendi memperlihatkan perbedaan kebutuhan yang signifikan: torsi sendi kedua dominan dan berada pada kisaran – Nm, sementara torsi sendi pertama relatif kecil di sekitar  hingga  Nm. Sehingga dari hasil penelitian mengindikasikan bahwa beban efektif terbesar berada pada sendi kedua, sehingga pemilihan aktuator dan strategi kompensasi dinamika, perlu diprioritaskan terutama pada Joint 2.

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Published

2026-06-30

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How to Cite

Ulya, A., Murdika, U., Aryanto, & Repelianto, A. S. (2026). Pemodelan Dinamik Robot Lengan 2-DOF Menggunakan Denavit–Hartenberg Untuk Evaluasi Torsi Sendi. Aceh Journal of Electrical Engineering and Technology, 6(1), 9–12. https://doi.org/10.55616/ajeetech.v6i1.1173

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Vol. 6 No. 1 (2026): Juni 2026

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