The Design Prime Mover for Mechanical Hand Installer Pull

Clamp Isolator

I Gede Nyoman Suta Waisnawa

, I Wayan Jondra

, I Gede Suputra Widharma

I Komang Kantun, I Putu Agus Haryawan and I Dewa Made Haruna Putra

Mechanical Engineering Department, Politeknik Negeri Bali, Jalan Kampus Bukit Jimbaran, Kabupaten Badung,

Indonesia

agusharyawan08@gmail.com, Dewaharuna@gmail.com

Keywords: Electric Motor, Mechanical Hand, Isolator, Efective, Times.

Abstract: PLN has not been able to meet the SAIDI (System Avarage Interupption Duration Index) and SAIFI (System

Avarage Interupption Frequency Index) standards. One of the causes of the non-fulfillment of SAIDI and

SAIFI standards in Indonesia is external disturbances, namely disturbances caused by nature or outside the

system, for example trees that are towering up to touch the connection point so as to cause a short circuit. The

presence of tekep insulators gives hope to PLN to overcome natural external disturbances caused by trees,

animals and so on.The previous installation of the insulator is done by cutting off the electricity in the network

cable. The power outage during the installation of the insulator is certainly detrimental to the customer. This

condition gave rise to the idea of making mechanical aids for the installation of insulators to make installation

easier without breaking the electricity supply to the network cable. The components purchased include an

electric motor as a driving force, a screw transmission. While the components made are pressure plates, drive

arms, hinges, motor mounts, clutches, and locking axles.The results of tests carried out by installing an

insulator using a mechanical hand on the cable connection on the power pole. The installation of the insulator

plug by mechanical hand was tested on 3 connections and carried out 5 times on 1 connection on the power

pole. The test results of installing an insulator on 1 connection using a mechanical hand obtained an average

time of 8 minutes 40 seconds.

1 INTRODUCTION

Economic activities that are: office activities, shops,

factories/industries (small and large scale), malls,

households, all of them need electricity. The growth

in electrical energy as happened in China is

dominated by consumer growth in the housing sector

(Zhaoguang, Xiandong, & Zhaoyuan, 2014).

Indonesia is also growing in the use of electrical

energy which is quite high. Electricity is the

foundation sector for achieving development goals,

such as creating job opportunities, increasing national

income, changing the economic structure and

improving people's welfare (Santika Wayan G, Urme,

Eliz, A.Bahri, & Anisuzzaman, 2020). The

distribution reliability system has a vital need to keep

https://orcid.org/0000-0001-7163-6813

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https://orcid.org/0000-0002-7090-545x

electricity on for 24 hours a day. Thus, the value of

SAIDI and SAIFI must be minimized as small as

possible.

The distribution reliability index is calculated by

value of SAIDI (System Average Interupption

Duration Index) and SAIFI (System Average

Interupption Frequency Index) as reliability

indicators. In most areas in Indonesia PLN has not

been able to meet SAIDI and SAIFI standards (Math,

2013). To minimize planned power outages or

disturbances, mechanical hands are needed to install

distribution line accessories such as Strain Clamp

Cover on Live Line Condition.

For this mechanical hand driver, a driving

mechanic is needed. Thus, this study discusses the

driving mechanics needed for this mechanical hand

252

Waisnawa, I., Jondra, I., Widharma, I., Kantun, I., Haryawan, I. and Putra, I.

The Design Prime Mover for Mechanical Hand Installer Pull Clamp Isolator.

DOI: 10.5220/0011756700003575

In Proceedings of the 5th International Conference on Applied Science and Technology on Engineering Science (iCAST-ES 2022), pages 252-257

ISBN: 978-989-758-619-4; ISSN: 2975-8246

driver. It takes a mechanical drive with a low speed

but has a high torque. The use of a speed gearbox

reducer with a speed ratio of 20:1 will result in an

increase in force of 1:20 (Sarma, 2017). For the robot

hand driver, a DC electric motor will also be used

which is equipped with a gearbox (Peerzada, Larika,

& Mahar, 2021). The problem is how much motor

power is needed and how much dimention or

diameter of shaft drive.

2 RESEARCH METHODE

2.1 Research Approach and Concept

Descriptive qualitative research was carried out with

an approach study to plan the mechanism of

mechanical hand movements. The compressive force

required to move this mechanical hand so that it is

able to close and open properly. The estimation of the

determination of the compressive force is carried out

by simulating loading by pouring water into a vessel

that is supported directly above the mechanical hand

until it is able to close the insulator clamp clamp

properly..

The concept of this research is to convert the

required mechanical compressive force at the end of

the pressure point into the required electric motor

power. Based on the power of the electric motor

needed, research on the needs of the motor driver and

drived shaft is needed.

The test of compressive force required the based

load point is carried out by giving the load at the

based load point gradually. The weight of the load at

the based load point in the time of the mechanical

hand closes the cover strain clamp completely, the

weight of the load is recorded and multiplied by the

acceleration / gravity of the earth as the required

compressive force.

2.2 Sample

This study uses a mechanical hand prototype as a

sample in testing the pressure force on a mechanical

hand, determining motor power. In this research using

3 sample mechanical hand prototype. Mechanical

hand function test to determine the time required to

install an insulator cap on a 20 kV medium voltage

distribution network cable. Time measurement was

carried out 15 times for each line, namely line R, line

S and line T. Water loading are 10 times for each

sample.

2.3 Variable Operational Definition

The focus of this study to observing the magnitude of

the indicators of this research, that are : force, power,

and battery capacity. Voltage is amount in volt of

potential test voltage between two terminal of motor

DC. The current is amount in amper of electron flow

from battery to the motor DC. Power in watt or

newton yang calculated to real load on the base point

of load. Battery capacity was calculated to the battery

insertion in to the mechanical hands (Xiaopeng.,

Weixiang, Tu, Zhenwei, & Kapoor, 2012).

2.4 Data Analysis

Data obtained from the test results and nameplate

are processed quantitatively. Data processed

mathematically and statistically by finding the data

variation on the step on each water filling. The data

are processed mathematically to obtain the power of

electric motor needed for prime mover, nominal drive

shaft diameter, rotation drive shaft, current and power

supplay. The output mathematically data is processed

trough statistically to obtain the average data, data

sequence, which is also displayed graphically.

3 RESULT AND DISCUSSION

3.1 Force, Torque, DC Motor Power,

and Drive Shaft

3.1.1 Force

Newton’s second law of motion points out the

magnitude of force when velocity of body move in

force is proportional to impressed force.

Mathematically, can be describe Force was change in

velocity. That issue is now second law of motion is

based on definition of equation of force is weigh

multiple with velocity for horizontal move, and with

earth gravitation for vertical move, that are as

describe on this formula in below (Sarma, 2017)

𝐹=𝑚.𝑎

(1)

The formula above can be explained that the value

of the force (F) is determined by the mass value (m)

of the object multiplied by the acceleration (a). The

unit of force is measured in Newtons, the unit of mass

of an object is measured in kg and the unit of

acceleration is measured in m/s

(Caldwell,

Robertson, & Whittlesey, 2020)(Ariadi & Dinata,

2018).

The Design Prime Mover for Mechanical Hand Installer Pull Clamp Isolator

253

The required of compressive force of the robotic

hand to close the strain clamp cover is carried out by

tested using a dummy load by a water container. The

water container is placed at the end point of load from

the fulcrum. Water is poured into the container slowly

until the robotic hand closes to closes the strain clamp

cover. When the strain clamp cover is completely

closed, the water pouring is stopped.

Figure 1: Loading test.

The loading test by pouring water into the vessel as

shown in Figure 1 obtained the weight of water

(dummy load) until it was able to press the

mechanical hand to close the insulator cover clamp

properly was 0.84 kg. The weight of this water is then

multiplied by the acceleration of gravity as shown in

table 1

Table 1: Force test result.

No Sample 1 Sample 2 Sample 1

Weight

(Kg)

Forc

(N)

Wei

ght

(Kg)

Forc

(N)

Wei

ght

(Kg)

Force

(N)

1 0.9 8.82 0.85 8.33 0.84 8.23

2 0.89 8.72 0.84 8.23 0.88 8.62

3 0.85 8.33 0.84 8.23 0.87 8.53

4 0.82 8.04 0.83 8.13 0.85 8.33

5 0.8 7.84 0.85 8.33 0.82 8.04

6 0.85 8.33 0.84 8.23 0.8 7.84

7 0.84 8.23 0.83 8.13 0.83 8.13

8 0.83 8.13 0.83 8.13 0.84 8.23

9 0.83 8.13 0.82 8.04 0.83 8.13

10 0.82 8.04 0.85 8.33 0.83 8.13

Average Weight (Kg)

0.84

Average

Force

(Newton) 8.23

3.1.2 Pressing Moment

The compressive moment is determined based on the

compressive force that has been obtained using the

moment equilibrium principle as shown in Figure 2

Figure 2: Hand Mechanic Load Distribution.

The compressive force obtained from the test results

of 8.23 N is F2, F1 is the force that is in the position

of the driving motor. F1 is calculated using the

moment equilibrium concept as follows:

MP=F1

0.342 m

MP = 24.51 N. 0.171 m

MP = 4.1895 Nm

Tightening Moment is assumed as Torque (T) in

determining power drive motor.

3.1.3 DC Motor for Prime Mover

Direct Current Motor Trough electromagnetic

converts the direct current electrical energy to

mechanic energy (Qader, 2017). Electricity in a DC

motor is flowed into the field coil so as to produce

magnetic flux, electricity is also flowed through the

charcoal brush to the rotor coil, so that the rotor coil

produces a rotor field. The size of the mechanical

power produced by the electric motor is greatly

influenced by the size of the field coil and the rotor

coil, so that the larger the coil, the greater the current

that flows and so that the electrical power consumed

is greater, resulting in large mechanical power

(Iswanto, Ma’arif, Puriyanto, Raharja, & Rahmadhia,

2020; Ranjbar, Anahita Banei, & Fahimi, 2012).

To reverse the rotation of the rotor can be done by

reversing the incoming current to the DC motor

terminal, which was originally positive connected to

a negative voltage source, and vice versa the negative

one was connected to a positive voltage source

(Purnata, Ramadan, Hidayat, & Maulana, 2022). This

reversal of the motor terminals will result in the

reverse direction of the current entering the motor, so

iCAST-ES 2022 - International Conference on Applied Science and Technology on Engineering Science

254

that the motor rotation is reversed. This phenomenon

occurs in accordance with the law of the left hand

which reads: the index finger indicates the direction

of the current, the thumb indicates the direction of the

pulsation, and the other three fingers indicate the

direction of the field.

The motor power (P) required to move the

mechanical hand so that it is able to press the insulator

cover clamp properly is as follows

P =

2πnT

2 x 3.14 x 86.2 x 4.1985

P = 37.798 watt

Nominal power obtained P = 37,798 watts

The design power (Pd) is multiplied by the

correction factor (fc), for the average power the

correction factor is chosen 1.2 (Sularso & Suga,

2004). Power Design (Pd) can be obtain is 45,3585

watt

Based on the calculations above, for the

mechanical hand driver, a motor above 24.5 watts is

needed. Found on the market a complete DC motor

gearbox, with a capacity of 48 watts, 12 volts, 4

amperes as shown in the picture below.

Figure 3: DC Motor 48 watts.

To drive the mechanical hand, the gearbox motor

is coupled with a trapezoidal thread to propel the

robotic arm. Tested is Installed the performance of the

motor in the mechanical hand, to determine its

electrical power consumption.

3.2 Mechanical Hand Prototype Design

Mechanical hand prototype design with electric

motor as prime mover. This mechanical hand is used

to attach the pull clamp isolator cap.

1. Fixed clamping press

plate

2. Movable clamping press

plate

3. Fixed hand

4. Hands move

5. Hinge

6. Electric motor moun

7. Threaded transmission

nut holder

8. Locking pen

9. Rings and snap rings

10. Threaded transmission

11. Electric motor

12. Clutch

Figure 4: Prototype Design of Mechanical Hand.

Figure 5: Prototype of Mechanical Hand.

3.3 Power, Rotation and Torque Test

Results

Direct Current Electric Motor Performance

Testing.The DC motor is coupled with a trapezoidal

thread shaft for opening and closing of the

mechanical hand. The DC motor that has been

determined is then tested for mechanical hand closing

movement. When installing the insulator cover, the

data taken are Power, Rotation of the drive shaft and

the time of installing the insulator cover.

Table 2 show that the measurement and

calculation data that show the relationship between

power, rotation and torque. The lowest rotation is

25.94 rpm with a torque of 11.83 Nm

The Design Prime Mover for Mechanical Hand Installer Pull Clamp Isolator

255

Table 2: Power, Rotation and Torque Test Result.

Avera

Power

(Watts)

Rotation

(Rpm)

Torque

(Nm)

Voltage

(Volt)

Current

(Amp)

5,30 1,36 16,28 40,53 3,84

9,63 1,34 16,12 50,65 3,04

9,77 1,70 20,40 60,54 3,22

9,63 1,48 17,80 84,00 2,02

9,83 1,67 20,08 85,84 2,23

9,60 1,90 22,80 84,73 2,57

9,77 1,67 20,08 84,62 2,27

9,53 1,68 20,20 85,84 2,25

9,63 1,79 21,52 82,45 2,49

9,47 1,79 21,52 75,42 2,73

9,10 2,22 26,64 60,22 4,23

9,50 2,15 25,84 45,30 5,45

6,60 2,68 32,12 25,94 11,83

Figure 6: Relatian between Rotation – Torque.

Figure 6 show that the relationship between

rotation and torque that occurs when installing the

insulator cover when tightening is when the rotation

goes down, it means the torque increases because the

power required is the same for tightening the insulator

clamps evenly.

While the duration of time in the process of

installing the insulator cover by mechanical hand is

shown in Table 3 below.

Table 3: Duration Time Installing Insulator Cover.

Duration Time (Second)

Line 1 Line 2 Line 3

1 39,71 39,61 46,59

2 37,73 35,7 40,57

3 36,55 37,29 40,41

4 36,76 35,51 38,23

5 36,59 37,38 40,51

6 38,71 36,61 45,58

7 37,57 36,58 40,67

8 37,14 37,29 40,41

9 36,75 35,51 38,23

10 36,79 37,36 39,55

Average 37,43 36,884 41,075

Figure 7: Duration Time Installing Insulator Cover.

The graph in Figure 7 shows that there is a time

difference in the process of installing the insulator

cover by mechanical hand for each line, but the time

difference is small, so it can be stated that the

installation time is almost the same.

4 CONCLUSIONS

Based on the results of testing and analysis can be

concluded as follows:

1. The working load on the mechanical arm is 8.23

Newtons. The main driving power from the

calculation results is 45.3585 watts. The DC motor

selected according to availability in the market is a

12 Volt, 48 Watt DC Motor.

2.The maximum torque required to drive the

mechanical hand is :5.45 Nm at 25.94 rpm.

3.The average time of installing the insulator cover is

38,463 seconds.

ACKNOWLEDGEMENTS

This research was funded by Lembaga Pengelola

Dana Pendidikan dan Direktorat Jenderal Pendidikan

Vokasi Kementerian Pendidikan, Kebudayaan, Riset,

dan Teknologi Year 2021. We thank Project

Management Office of Domestic Vocational Higher

Education Program Implementation of the Applied

Scientific Research in 2021 for his support to this

research..

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