Design, analysis, and development of a soft robotic peristaltic pump

Technology is valuable if it serves human well-being. Combining multilateral engineering disciplines for innovative products to solve daily problems is necessary. Peristaltic pumping using novel and state-of-the-art technologies is the main objective of this study, which will lead to further developments toward a better solution employing 3D printing, soft robotics, and related subjects like software and hardware technology. In this thesis, a peristaltic pump was designed, analyzed, optimized, and manufactured using soft robotic methods to create a flow of fluids at slow flow rates. The procedures of peristaltic pumping are performed, usually by pressing a set of rotating wheels over elastic tubing. However, this study employs relatively soft sequentially pressure applications like human hands milking the cow. This biomimetic approach is, unlike others, a soft-touch solution. A series of rings acting like squeezing fingers in a sinusoidal manner, expanding towards the center, causes elastic tubing to stop and free the flow. This solution offers a safer and more compliant pumping solution for vein-like delicate biological formations. After researching up-to-date technology, the study first focused on the high voltage, low current electrostatically actuated method, which was found to be unsatisfactory and less useful for practical reasons. Later, actuation is performed over specially designed, optimized, numerically analyzed, and 3D-printed rings with pneumatic and hydraulic means. Before the final experimentation step, the whole system is digitally simulated. The experiments performed on the manufactured setup were satisfactory for pneumatic and hydraulic actuation. The results match the analysis results and prove that soft robotic peristaltic pumping can be used in delicate environments where inelastic, stiff, and solid materials cannot be used as squeezing agents.