ANALYTICAL ANALYSIS OF EXTREME POSITION MECHANISMS FOR CONVEYOR LIFITNG SEGMENTS USING KINEMATIC SYSTEM

The process of moving an item in the industrial world has an influence on productivity produced by the company. The company's productivity can be supported by using a conveyor when the transfer process takes place. This study aims to determine the extreme position of the conveyor lift segment mechanism using the kinematic system. The method used is an analytical analysis method with a kinematic system using SAM 6.0 software. The stages of the research process are measuring conveyor segments, drawing kinematic diagrams, depicting movement mechanisms, calculating degrees of freedom (DoF), calculating geometry, and ending the stroke link follower measurements. The results of the study resulted in a degree of freedom that is 1 which shows the movement of the conveyor freedom only 1 direction, and the calculation result of follower link stroke is 22.6o which shows the maximum range that can be done from the movement of the conveyor lifting segment.


INTRODUCTION
Technology and science that are increasingly advanced have an impact on the number of companies that develop equipment to support productivity. The process of moving an item in the industrial world has an influence on productivity produced by the company. The company's productivity can be supported by using a conveyor when the transfer process takes place.
Conveyor is a common part of mechanical material handling equipment that moves from one location to another location [1]. The productivity of conveyor use can be known through faster distribution times and minimal expenditure costs [2]. The productivity of conveyor use can be determined by analyzing the distribution process when the conveyor is working.
Valid analysis results are obtained using analytical methods with kinematic systems. An analytical analysis is used to describe the process of knowing each stage to obtain results. The kinematic system description is carried out to describe the process of moving a moving conveyor segment. Analysis of the movement of conveyor segments is known by using SAM 6.0 software. The use of SAM 6.0 software to facilitate the process of elaborating the results of kinematic charts and movement graphs.

METHODS
This research was conducted using analytical methods to obtain valid results in order to obtain the right solution. Analytic method is a method that satisfies the original equation exact [3]. The analytical method is carried out through several stages [4]. The stages of the analytical method are described in the following flowchart methodology: The first stage measures the conveyor segment that is the object of research, the second depicts kinematic diagrams, the third stage illustrates the mechanism of conveyor lifter segment movement using SAM software, the fourth performs DOF (Degree of Freedom) calculations to determine the direction of conveyor segment movement, the fifth performs the geometry calculation of the position minimum and maximum limit, and end with a stroke link follower measurement.

RESULTS AND DISCUSSION
This section outlines the results and discussion of the stages of the research conducted.

Measurement of Conveyor Lifting Segments
This section is carried out by measuring the segment of the conveyor device using a length measuring instrument (a ruler). The results of the measurements made are shown in the following figure: In the description of Figure 1, it is known that the length of the flexible segment on the conveyor is 18 inch with 8 inch between the driving lever and the fixed lever and 10 inch in front of the driving lever. The length of the drive lever is 16 inches. The length of the connecting lever is 4 inches, and the length of the lever is fixed at 18 inches.

Kinematic Portrayal of Diagrams
This sub-chapter is carried out to describe the kinematic diagram of the conveyor device segment. The kinematic diagram illustrates the connectivity of the link and joints mechanism of the dimensions of the  The translation of Figure 2 shows that the process of conveyor segment movement is preceded by a left image where the condition of the conveyor segment is normal and does not lead to a specific destination. Image of the movement of the conveyor segment directing the flow of an object that is distributed upward is shown by the middle image where the position of the driving lever and the connecting lever forms a straight line along 20 inches.

Portrayal of Conveyor Movement Mechanism Using SAM Software
This section explains the mechanism of movement of conveyor using SAM software. SAM (Simulation and Analysis of Mechanisms) is an interactive PC-software package for the motion and force analysis of arbitrary planar mechanisms, which can be assembled from basic components including beams, sliders, gears, belts, springs, dampers and friction elements [6]. The high school software is used to find out in detail every movement that occurs in changing the position of the conveyor lifting segment. The results of depicting the mechanism of conveyor movement are divided into 3 phases where there is a starting position, a half movement position, and a final position. The phases contained in the movement of conveyor segments are explained by the following figure: The explanation of Figure 3 shows that the initial position of the conveyor segment consists of two fixed pins, the first pin to move the conveyor and the second pin to make the drive lever move up and down. There are 3 links shown by link 2 as the connecting lever is in a position parallel to link 3. Then there is link 3 as the driving lever that is moving the link in the direction of the conveyor going down. Finally, there is link 4 as a form of the final output of the movement produced by the conveyor segment.  The elucidation of Figure 5 shows that the position of the half conveyor segment consists of two fixed pins and 3 links. The first link is shown by link 2 as the connecting lever which is connected with pin 2 and link 3.
Then there is link 3 as the driving lever that is moving the conveyor direction link to the top. Finally there is link 4 connected to pin 1 and link 3. Link 4 is the form of the final output of the movement produced by the conveyor segment to the top.  The elucidation of Figure 7 shows that the final position of the conveyor segment consists of two fixed pins and 3 links. The first link is shown by link 2 as the connecting lever that returns to the initial position or the right will be parallel to link 3. Then there is link 3 as a driving lever that is moving the conveyor direction link back to the starting position. Finally there is link 4 connected to pin 1 and link 3. Link 4 is a form of the final output of the movement generated by the conveyor segment back to the initial position.

DOF (Degree of Freedom) Measurement
The degree of freedom is the number of independent inputs required to precisely position all links of the mechanism with respect to the ground [7]. This section explains the calculation of DOF (Degrees of Freedom) using the Gruebler's equation. DOF (Degrees of Freedom) calculation has a function to determine how the direction can be achieved by the mechanism of conveyor segment movement. The following is the Gruebler's equation (1) = 3 (4-1) -2(4) -(0) = 1 Thus, Degrees of Freedom of mechanism Conveyor is 1.

Geometry Calculation of Minimum and Maximum Positions
This section explains geometry calculations for the minimum and maximum positions when the conveyor segment is distributing goods. The minimum position is obtained when the conveyor segment reaches the lowest point on the y axis or is pointing down. The maximum position is obtained when the conveyor segment reaches the highest point on the y axis or when the conveyor segment is pointing up.1

Geometry Calculation of Minimum Position Conveyor Segments
This section explains the calculation of the geometry of the conveyor segment at a minimum position. Calculations are obtained by using the equations cos, sin and trigonometry so as to obtain an angle in the geometry of the minimum limiting position. The calculation of the geometry of the minimum position conveyor segment is elaborated as follows: Internal joint on point A : 3. ∠ADC !! = 107,3°

Perhitungan Geometri Segmen Conveyor Posisi Maksimal
This section explains the calculation of the geometry of the conveyor segment at its maximum position. Calculations are obtained using the equations cos, sin and trigonometry so that the angle in the geometry of the maximum limiting position is obtained. Calculation of the geometry of the maximum position conveyor segment is described as follows: 3. ∠ADC ! = 129,9°

Measurement of Link Follower Stroke
Stroke link follower measurement is used to determine the maximum range that can be done from the movement of the conveyor lifting segment. The measurement of the stroke link follower of the internal angle conveyor segment in the connection cycle between 129.9 ° and 107.3 °, which is measured upwards from the vertical axis, is described by the following equation: 107,3°< < 129,9° │Δθ│ = 129,9°− 107,3°= 22,6°

CONCLUSION
Analysis using analytical methods with kinematic systems produces findings of various factors needed in optimizing the conveyor lifting segment. Factors that can optimize the conveyor device segment include the required size of the conveyor device segment in accordance with the use in distributing goods, depicting kinematic diagrams to determine the moving parts of the conveyor, depicting conveyor motion mechanism using SAM software to determine the movement of conveyor segments when carrying out the distribution of goods , calculation of degree of freedom (DOF) to determine the direction of motion of the conveyor when working, calculation of the geometry of the position of the minimum and maximum to know the maximum range of movement of the conveyor lifting segment mechanism. The conveyor segment moves with different speed and acceleration in each segment of the trailer due to the adjustment of motion requirements in distributing different types of goods. Separation of conveyor direction based on weight of distributed object. The maximum speed is obtained when the conveyor is heading downwards due to the influence of the force of gravity. The minimum speed is obtained when the conveyor is going upwards due to opposing gravity. The weight of the object so that the conveyor segment can be stable work adjusted, with heavy objects poured down and light objects directed upwards. The direction of the conveyor that moves up and down shows that the mechanism of the conveyor segment only moves in one axis (y axis), this shows that the conveyor segment lifter mechanism has only 1 degree of freedom.

ACKNOWLEDGEMENT
Writing this paper can be completed because of the involvement of various parties. Therefore, the authors feel thankful for the guidance of the lecturer in mechanical system mechanics Dr. Ir. Lobes Herdiman, M.T. Thank you also to my classmates in mechanical systems mechanics for the discussion and joint learning that has been done.