Page 69 - Flexible Robotics in Medicine
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Cable-driven flexible endoscope utilizing diamond-shaped perforations: FlexDiamond 53
Figure 3.4
(A) TangoBlack-VeroClear loaded on the machine. (B) Drawing of the shape of the
specimens used.
Figure 3.5
Results for the tensile test for polyurethane (specimen 1) and TangoBlack-VeroClear (specimen 2).
obtained, it can be observed that polyurethane (specimen 1) is able to withstand a more
significant load for a more extended period.
Polyurethane is proven to be mechanically stronger. The current prototype was fabricated
using 95% VeroClear and 5% TangoBlack.
3.4.1.3 Three-point bending test for diamond-cut design (static)
The diamond-cut design on the prototype offers flexibility in order to achieve larger
bending angles. We load the specimen onto the three-point bend fixture. A specimen is
supported by two supports separated by a known span (span length to specimen outer-
diameter with the ratio of at least 4:1; Fig. 3.7). Force is applied on the top of the
specimen, midway between the supports. We stop the experiment when the specimen
