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  • Hitungan

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    Gilang Yudha
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    The document describes two containers - an outer cube with dimensions 26x26x21 cm and an inner cube with dimensions 25x25x20 cm. It then calculates the volume and mass of the space between the containers. It also provides specifications for a stepper motor and servo motor, and calculates the total force on each motor from the container mass, a 60g sample, and gravity. It determines that the stepper motor exceeds the maximum torque of 0.3 Nm while the servo motor does not exceed its maximum torque of 0.296 Nm.

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    The document describes two containers - an outer cube with dimensions 26x26x21 cm and an inner cube with dimensions 25x25x20 cm. It then calculates the volume and mass of the space between the containers. It also provides specifications for a stepper motor and servo motor, and calculates the total force on each motor from the container mass, a 60g sample, and gravity. It determines that the stepper motor exceeds the maximum torque of 0.3 Nm while the servo motor does not exceed its maximum torque of 0.296 Nm.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    15 views2 pages

    Hitungan

    Uploaded by

    Gilang Yudha
    The document describes two containers - an outer cube with dimensions 26x26x21 cm and an inner cube with dimensions 25x25x20 cm. It then calculates the volume and mass of the space between the containers. It also provides specifications for a stepper motor and servo motor, and calculates the total force on each motor from the container mass, a 60g sample, and gravity. It determines that the stepper motor exceeds the maximum torque of 0.3 Nm while the servo motor does not exceed its maximum torque of 0.296 Nm.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 2

    Kubus luar Kubus dalam

    p (cm) 26 25
    l (cm) 26 25
    t (cm) 21 20
    V (cm3) 14196 12500
    V(m3) 0.014196 0.0125

    Wadah Penampung
    𝑉𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 = 𝑉𝑘𝑢𝑏𝑢𝑠 𝑙𝑢𝑎𝑟− 𝑉𝑘𝑢𝑏𝑢𝑠 𝑑𝑎𝑙𝑎𝑚 𝑚𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 = 𝜌. 𝑉𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔
    𝑉𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 = 0.014196 𝑚3 − 𝑘𝑔
    𝑚𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 = 1170 ⁄ 3 .
    0.0125 𝑚3 𝑚
    0.0017 𝑚3
    𝑉𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 = 0.0017 𝑚3
    𝑚𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 = 1.98432 𝑘𝑔

    𝐹𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 = 𝑚𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 . 𝑔


    𝐹𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 = 1.98432 𝑘𝑔 . 9.81 𝑚⁄ 2
    𝑠
    𝐹𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 = 19.4662 𝑁

    Motor Stepper Motor Servo


    Nema- m 0.275 kg m 0.055 kg
    HITEC
    17 σ 0.3 Nm σ 0.296 Nm
    𝐹𝑠𝑡𝑒𝑝𝑝𝑒𝑟 = 𝑚𝑠𝑡𝑒𝑝𝑝𝑒𝑟 . 𝑔 𝐹𝑠𝑒𝑟𝑣𝑜 = 𝑚𝑠𝑒𝑟𝑣𝑜 . 𝑔
    𝐹𝑠𝑡𝑒𝑝𝑝𝑒𝑟 = 0.275 𝑘𝑔 . 9.81 𝑚⁄ 2 𝐹𝑠𝑒𝑟𝑣𝑜 = 0.055 𝑘𝑔 . 9.81 𝑚⁄ 2
    𝑠 𝑠
    𝐹𝑠𝑡𝑒𝑝𝑝𝑒𝑟 = 2.69775 𝑁 𝐹𝑠𝑒𝑟𝑣𝑜 = 0.53955 𝑁

    Sampah
    𝑚𝑠𝑎𝑚𝑝𝑎ℎ = 60 𝑔 = 0.06 𝐾𝑔

    𝐹𝑠𝑎𝑚𝑝𝑎ℎ = 𝑚𝑠𝑎𝑚𝑝𝑎ℎ . 𝑔
    𝐹𝑠𝑎𝑚𝑝𝑎ℎ = 0.06 𝑘𝑔 . 9.81 𝑚⁄ 2
    𝑠
    𝐹𝑠𝑎𝑚𝑝𝑎ℎ = 0.5886 𝑁
    Kondisi 1
    (Jika memakai motor stepper nema 17 pada wadah penampung)
    𝐹𝑡𝑜𝑡𝑎𝑙 = 𝐹𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 + 𝐹𝑚𝑜𝑡𝑜𝑟 𝑠𝑡𝑒𝑝𝑝𝑒𝑟 + 𝐹𝑠𝑎𝑚𝑝𝑎ℎ
    𝐹𝑡𝑜𝑡𝑎𝑙 = 19.4662 𝑁 + 2.69775 𝑁 + 0.5886 𝑁
    𝐹𝑡𝑜𝑡𝑎𝑙 = 22.7525292 𝑁

    Maka, torsi maksimalnya adalah


    τ𝑚𝑎𝑘𝑠𝑖𝑚𝑎𝑙 = 𝐹𝑡𝑜𝑡𝑎𝑙 𝑥 𝑙 (panjang lengan 20 cm/0.2 m)
    τ𝑚𝑎𝑘𝑠𝑖𝑚𝑎𝑙 = 22.7525292 𝑁 𝑥 0.2 𝑚
    𝜏𝑚𝑎𝑘𝑠𝑖𝑚𝑎𝑙 = 4.55050584 𝑁𝑚

    Kondisi 2
    (Jika memakai motor servo pada wadah penampung)
    𝐹𝑡𝑜𝑡𝑎𝑙 = 𝐹𝑤𝑎𝑑𝑎ℎ 𝑝𝑒𝑛𝑎𝑚𝑝𝑢𝑛𝑔 + 𝐹𝑚𝑜𝑡𝑜𝑟 𝑠𝑒𝑟𝑣𝑜 + 𝐹𝑠𝑎𝑚𝑝𝑎ℎ
    𝐹𝑡𝑜𝑡𝑎𝑙 = 19.4662 𝑁 + 0.53955 𝑁 + 0.5886 𝑁
    𝐹𝑡𝑜𝑡𝑎𝑙 = 20.5943292 𝑁

    Maka, torsi maksimalnya adalah


    τ𝑚𝑎𝑘𝑠𝑖𝑚𝑎𝑙 = 𝐹𝑡𝑜𝑡𝑎𝑙 𝑥 𝑙 (panjang lengan 20 cm/0.2 m)
    τ𝑚𝑎𝑘𝑠𝑖𝑚𝑎𝑙 = 22.7525292 𝑁 𝑥 0.2 𝑚
    𝜏𝑚𝑎𝑘𝑠𝑖𝑚𝑎𝑙 = 4.11886584 𝑁

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