Concept 1:
Concept 2:
Magnetic Actuator
-Optimizes speed
-Utilizes polarity reversing relay for efficient expansion
-Easily scaled to smaller size
Soft-Body Pipe Crawler
-Efficient movement
-Biomedically friendly
-Navigation Focused
Concept Selection
The two concepts chosen were based on the following criteria
Concept Development
These concepts were taken and improved on by using the soft-body exterior of the pipe crawler, magnetic connections, and a new actuation method: piezoelectric.
The Piezoelectric material causes deformation when voltage is applied (or vice-versa).
Diagram of robot design:
A movement cycle is demonstrated below:
This new design has all of the benefits of the magnetic actuator, only with more accuracy. The soft-body exterior is silicon, which creates a shell and houses the piezoelectric material, as well as gripping the walls of the veins for forward movement.
Robot Link Cad Visual:
Modular magnetic links, held by both faces and sides offer more applications for potential use. Edited to be more hexagonal, have more modularity.
Shown below is a singular module:
Then assembled to the application for arterial use:
Shown below a configuration with extra modules on the outside, potentially for other applications:
This can help with turning or dexterity of the robot in other potential applications. It would allow for the links to act in parallel or in series depending on the goal of the robot.