DESIGN STUDY OF ENDOSCOPIC SOFT ROBOT USING TWO ANCHORS MECHANISM

• Main Author: Hanif, Muhammad
• Format: Final Project
• Language: Indonesia
• Subjects: Teknik (Rekayasa, enjinering dan kegiatan berkaitan)
• Online Access: https://digilib.itb.ac.id/gdl/view/57866
• Institution: Institut Teknologi Bandung

The increasing rate of internal disease keeps pushing the needs of surgical technology development. One of its method is endoscopy of minimum invasive surgery. Endoscopy can be done by injecting a flexible structure into human body so that internal body can be viewed. Unfortunately, the development is pretty rare in Indonesia Throughout this research, design and manufacturing process of soft robot is going to be developed as endoscopy actuation. Soft robot contains a structure made of super-elastic material so it easily deforms. The mechanism used in this research is two anchors mechanism using pneumatic actuator. The manufacturing process will be done by 3d printng method. The manufacturing process is divided into body design and simulation process, robot molding printing, and silicone rubber molding. Optimization is done by doing iterative process to achieve the better result according to design requirements and objectives. Initially, robot is designed to locomote using upward deflection, but the better locomotion is achived using downward deflection. From the test applied to the robot, adequate locomotion run in the range of 0.3-0.5 bar, By varying the pressure, robot is able to locomote using different velocity.