STUDY, FABRICATION, AND EVALUATION OF SOFT ROBOTIC MODEL RECTANGULAR FIBER REINFORCED ACTUATOR

• Main Author: Aulia Ramdhani, Jeihan
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/67893
• Institution: Institut Teknologi Bandung

Robots are smart machines that have been designed and programmed to help humans in various fields, such as manufacturing, logistics, transportation, to health. However, mechanical robots made of hard materials hinder the development and use of robots on fragile objects. In addition, mechanical robots cannot be used in environments that require high security of robot-human interaction. This is what underlies the development of soft robots who made of soft materials. One of the mechanisms for moving soft robot actuators is called flexible fluidic actuator (FFAs). In this mechanism, the soft robot actuator is driven by a fluid. FFAs have several types of actuator models. One of the most popular models is fiber reinforced. The movement of the fiber reinforced actuator is influenced by the choice of material and the design parameters used. Given that the ability to move is one of the most important things in soft robotics, in this research called “Study, Fabrication, and Evaluation of Soft Robotic Model Rectangular Fiber Reinforced Actuator”, a study, fabrication, and evaluation is carried out on the effect of material selection and design parameters on the movement ability of the actuator. A fabrication process will be carried out to produce actuators with variations in the use of materials and design parameters in accordance with research needs. Furthermore, an evaluation of the movement capabilities of all actuators that have been made is carried out. This study gives a new option for alternative extensible layer material, the criteria for selecting a strain limiting layer material to produce a good actuator movement ability, and the effect of the design parameters on the number of turns and wall thickness on the actuator movement ability.