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Design of Pneumatic Soft Surgical Robot for Endoscopic NOTES and MIS Application with Reduced size

Lin, YuanXiang (2019) Design of Pneumatic Soft Surgical Robot for Endoscopic NOTES and MIS Application with Reduced size.

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Abstract:This project aims to downscale STIFF-FLOP manipulator for laparoscopy, and to develop PID feedback controller and feedforward controller to compensate for the influence of module orientations and load on the bending of the downscaled design. The cross-section area of chamber is maximized for obtaining the maximal bending ability in analytical model based on constant curvature assumption. The body of the downscaled design is an elastomeric cylinder with 11.5 mm in diameter. It contains three arc chambers. To limit the radial expansion of inflated chambers, the external braided sheath is fixed at both ends of the downscaled design. The bending performance of the downscaled design is obtained by the system characterization experiment. The bending characterization can be divided into three parts: the zero-bending zone, the gradient increasing part and the gradient decreasing part. In addition, the bending hysteresis and the elongation ability are also measured in this project. To examine the control performance of the PID feedback controller and feedforward controller, the validation experiment has been carried out. When the reference bending angle is more than 15°, the bending of the downscaled design follows the reference. Meanwhile, the static control performance is not influenced by module orientations and limited load. However, the bending of the downscaled design is not able to follow the trajectory when the desired bending angle is less than 15°.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:52 mechanical engineering
Programme:Electrical Engineering MSc (60353)
Link to this item:http://purl.utwente.nl/essays/80266
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