DEVELOPMENT OF SOFT ROBOTIC FISH ACTUATION METHOD

• Main Author: Rayhan Hidayat, Rafi
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/81047
• Institution: Institut Teknologi Bandung

The development of soft-robotic fish technology plays an important role in providing a variety of robotic capabilities that are very useful in various fields. These capabilities include seabed exploration, underwater environmental monitoring, human deployment in search and excavation, oil leak detection, and so on. In this Bachelor's Assignment, the author carried out an analysis of motor-type fish soft robot actuators, focusing only on the tail. The analysis carried out includes the influence of the pull point on the tail angle and a comparison between experimental and theoretical results. The first step taken was to collect literature reviews about the available actuators in soft-robotic fish and then make a selection based on the advantages and disadvantages of each actuator. Once the actuator is selected, the author can manufacture the entire selected actuator system. Then data were collected by carrying out three experiments, angular motion test, tension force measurement, and RPM measurement. The results of the angular motion test are processed using Matlab (Mathworks,USA) and Microsoft Excel (Microsoft, USA). Then in measuring the tension force, the data obtained is used as a comparison between experimental and theoretical. In measuring RPM, the test carried out aims to determine the rotation speed of the motor. In the end it can be concluded that all the experiments carried out were successful and can operate based on DRO.