DESIGN OF AIR PRESSURE CONTROL FLOW SYSTEM THAT USES TO MOVE SOFT ROBOT

• Main Author: Syafi'udin, Misbakh
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/70359
• Institution: Institut Teknologi Bandung

Soft robot actuator development for application in medical field has been widely conducted. Most of the actuators are moved by air pressure or pneumatic system. However, air flow control system used to control soft robot at Institut Teknologi Bandung is still not portable because it still uses a big compressor to supply the air pressure. This final project discussed the design process, manufacture, and prototype testing of an air pressure control flow system used to control soft robots. The scope of this final project is on the design and prototype manufacturing of a micro compressor used to supply the pressure for a soft robot manipulator. In this work, syringes are utilized as pistons to generate pressure. Syringe is safe to use in medical field because it does not contain any corrosive metal. The compressor design concept used by the writer is a reciprocating compressor with configuration of inline two cylinder. The test results show that the compressor can move back and forth properly and is able to pump air up to more than 2 bar. The test results show that the compressor can move back and forth properly and is able to pump air up to more than 2 bar. In addition, the relationship between the length of the compression stroke and the resulting pressure is in accordance with the theoretical value approach, although there is a slight difference which might be due to a leak in the system.