Design, Optimization, Simulation, and Implementation of a 3D Printed Soft Robotic Peristaltic Pump

Abstract

Abstract This paper presents an innovative approach to fluidic pumping, utilizing the principles of soft robotics. The focus is based on designing a pump that circulates fluid through a soft conduit by using a soft robotic pump. A parametric finite element model is developed to predict the required pressure for actuating the pump elements, and a meta-model is created to optimize the pressure for maximum flow rate with minimal power. The study employs the Mooney-Rivlin 5 Parameters hyper-elastic material model to ensure material properties are accurately accounted for. MATLAB Simulink Simscape modeling tool is used to mimic peristaltic pump motion and actuation sequences to calculate flow rates. The optimal design values are determined and experimental results are compared with simulation results to verify and validate the effectiveness of the approach. This study demonstrates that linearly sequenced soft squeeze actuators can be trans-formed into a scalable pump with proper control, providing a potential solution for delicate environments such as blood streams where circular peristaltic actuation may not be feasible.