Studies related to manipulators are still being carried out, along with the times and needs. Utilization in manufacturing and fabrication has led to the development of many manipulators. Smooth, fast, and accurate movement continue to be developed. In the case of the multi manipulator, 7 DOF (Degree of Freedom) is a type of manipulator that has special features in terms of joints. Inverse kinematic is a parameter used to control the orientation and movement of the manipulator. 7 DOF has three singularity wrist, elbow, and shoulder. In the simulation, each singularity produces an inverse kinematic matrix which is used to control the movement of the manipulator. The method used is to determine the angle of motion of the joint (continues joint angel) with simulation to produce calculations that are fast, precise, accurate, and stable. The target of each joint with the theta value that has been determined by the singularity was successfully carried out with an error of 0%.
Hampir seluruh masyarakat tidak memiliki kesiapan dalam menghadapi situasi pandemi, secara khusus masyarakat Kampung Seprih 005/001 Kebonmanis. Pembatasan aktivitas mengakibatkan menurunnya kegiatan perdagangan warga. Pengetahuan yang terbatas dan pengalaman yang belum memadai, menghambat perkembangan usaha dagang warga yang notabene penghasilan setiap bulannya tidak tetap. Berdasarkan hal tersebut, solusi yang dibutuhkan untuk peningkatan perekonomian warga adalah kegiatan kewirausahaan bersama di lingkungan Kampung Seprih. Kegiatan wirausaha bersama ini dapat terlaksana dengan memanfaatkan lahan warga yang belum produktif. Tujuan kegiatan pengabdian ini adalah menggambarkan potensi usaha mandiri Kampung Seprih menjadi Kampung Produktif Seprih dan memberikan pelatihan serta pendampingan penulisan proposal sponsorship kepada warga secara khusus GEMA (Gerakan Pemuda Nol Lima) Kampung Seprih. Kampung Produktif Seprih digambarkan pada denah pekerjaan yang terbagi menjadi 4 area, yaitu lahan produksi, lahan peternakan, lahan pertanian, dan lahan ruang baca (perpustakaan warga Kampung Seprih). Kegiatan pelatihan dan pendampingan penulisan proposal sponsorship dilaksanakan selama 12 kali pertemuan dan diikuti oleh pengurus dan anggota GEMA. Proposal sponsorship dikirimkan ke PFmuda 2022 melalui aplikasi yang tersedia pada tanggal 18 Mei 2022 pukul 19.44 WIB. Harapan dari Penulis dan tim beserta GEMA Kampung Seprih adalah proposal tersebut lolos dan didanai kegiatan selanjutnya. Namun jika hasilnya belum sesuai rencana, maka GEMA dapat mengajukan proposalnya ke instansi lain dengan bekal pelatihan yang sudah diterima.
The utilization of wind energy as a power plant still needs to be improved by looking at the turbine performance, which is not always the same in different regional conditions. This study aims to determine the effect of the blade angle of the turbine on the tip speed ratio (TSR) and power coefficient (CP) by using a Q-Blade simulation. Q-Blade software can predict the value of the power generated at the blade rotation by comparing the CP and TSR values. The type of airfoil NACA 4412, taper blade, blade's numbers (4), blade radius (0.3 m), wind speed ± 3.6 m/s were fixed variables in this study. The simulation generated a graph of the relationship between CP and TSR changed and a simulation image of the load distribution ensued in the blade geometry. The blade angle of 30 at the TSR number 5 produced the highest CP values, which was ±0.4. The low loading value in the axis/rotor region, at a variation of the blade angle of 30, balances the centrifugal force on the rotating fluid. The centrifugal force produces thrust on the turbine so that the blade rotates with a high CP value in that area.
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