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The most important feedback that the group received in this phase was relating to the scale and attachment style of the new hydraulic actuation method being implemented in the robot. There were concerns expressed about the durability of this actuation method and the electronic controls necessary to control the system. Moving forward the team will…

Moving forward into phase 5 the team plans to finalize the design of the Beta Prototype. This finalization includes finalizing the code, electronics and testing of the exterior design of the prototype as well as the new hydraulic actuation system and combining the two for the final Beta Prototype of the Intravascular Bot.

The pivot in actuation method used in the prototype required additional testing and analysis to prove viable for the prototype. The pump intended for use within the prototype was tested and proven capable of providing the required pressure, and vacuum as well as being able to reverse direction as needed for the system. The hydraulic…

To get started on the prototyping for the semester, the team ordered all necessary parts within the first week of returing. The team did run into a couple issues with testing. First, the machine to test the piezoelectric material did not have the necessary output and ground cables, so these had to be ordered from…

The team wrapped up phase 3 presentations this week, where the most important feedback received was regarding the force of the piezoelectric being significant enough to be a feasible actuation method. The teams number one priority going into phase 4 will be proving the displacement of the piezoelectric in the context of the design. The…

The parts the team ordered were delivered, and some preliminary testing was done to ensure the design is supported before moving forward. The hexagonal end pieces were sucessfully 3D printed using PLA, the structure which the piezoelectric material will adhere to was printed in ABS, and the piezoelectric material is soon to be tested. The…

Determined exactly what piezoelectric material is good for prototyping. A cheap but functional material will be using for proof of concept. It is not safe for the human body, as it contains lead. However, there are versions of the same material that are biologically compatible for future iterations. This will likely not be used by…

The largest roadblock the team has had so far was determining the actuation method that goes into the soft-body shell of the robot. After looking at several actuation methods, like magnetic or memory-alloy, the team settled on Piezoelectric material. With an applied current, the material deforms (shrinks and expands) which can contract the individual robot…