Page 138 - Flexible Robotics in Medicine
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124 Chapter 5
Figure 5.14
Design fabrication and test process.
Figure 5.15
Experimental setup.
The maximum voltage that could be generated using the pump was 12 V. Therefore the
maximum voltage MOJO received in the experiments was 11.0 V. The DC supply was
used to vary the voltage to augment the negative pressure generated, causing the
structure to compress. Markers were placed on the prototype in order to be able to track
the angles (Fig. 5.17) at different points in time and voltage. The pressure sensor was
then used to measure the internal pressure of the device (Fig. 5.18). Assumptions made
for this experiment included no leaks, no pressure losses at junctions or curved sections,
and that the pressure at the tip of the device was equal to the value shown by the
pressure sensor.
