Optimasi Desain dan Parameter Teknologi Fused Deposition Modeling (FDM) pada Fabrikasi Sensorized Soft Pneumatic Actuator

Hasan Mastrisiswadi, Prof. Dr. Eng. Ir. Herianto, S.T., M.Eng., IPU., ASEAN Eng.; Wangi Pandan Sari, S.T., M.Sc., Ph.D

2026 | Disertasi | DOKTOR TEKNIK INDUSTRI

Optimasi desain dan parameter pencetakan pada fabrikasi multi-material sensorized soft pneumatic actuator dilakukan menggunakan metode GRA-Taguchi L27, dengan parameter tidak terikat berupa bentuk SPA, bentuk sensor, suhu nozzle SPA, suhu nozzle sensor, ketebalan layer, arah, dan kecepatan pencetakan. Adapun pengukuran dilakukan terhadap build time, energy consumption, tip force, resistansi, diameter, panjang, dan sudut yang dihasilkan pada tekanan udara 0.2-3 bar.

Hasil penelitian ini menunjukkan bahwa desain dan parameter terbaik dalam pembuatan sensorized soft pneumatic actuator secara umum adalah bentuk SPA S-shape, bentuk sensor R-shape, suhu nozzle SPA 210°C, suhu nozzle sensor 230°C, tebal layer 0,22 mm, arah pencetakan 30°, dan kecepatan pencetakan 26 mm/s. Secara keseluruhan, rata-rata perbedaan nilai antara hasil parameter terbaik dan hasil terbaik untuk masing-masing parameter adalah 8 persen. Bahkan, beberapa di antaranya menunjukkan hasil yang lebih baik jika dibandingkan dengan nilai terbaik masing-masing parameter, seperti tip force , diameter, dan sudut. 

The fabrication process of sensor-integrated soft pneumatic actuators is relatively complex. To address this issue, Fused Deposition Modeling (FDM) offers a fabrication solution that is more cost-effective, faster, and simpler compared to conventional techniques. Nevertheless, achieving optimal actuator performance requires comprehensive optimization of both geometric design and printing parameters.

The optimization of design and printing parameters for multi-material sensorized soft pneumatic actuators was conducted using the GRA–Taguchi L27 method. The independent parameters include SPA shape, sensor shape, SPA nozzle temperature, sensor nozzle temperature, layer thickness, printing orientation, and printing speed. The performance evaluation was carried out based on several response variables: build time, energy consumption, tip force, resistance, diameter, length, and angle, under air pressures ranging from 0.2 to 3 bar.

The results of this study indicate that the optimal combination of design and process parameters for fabricating sensorized soft pneumatic actuators consists of an S-shaped SPA, an R-shaped sensor, SPA nozzle temperature of 210°C, sensor nozzle temperature of 230°C, layer thickness of 0,22 mm, infill angle of 30°, and printing speed of 26 mm/s. Overall, the average deviation between the predicted optimal parameter combination and the best individual parameter results is approximately 8%. Furthermore, several performance metrics, such as tip force, diameter, and angle, show improvements over the best values for each parameter.

Kata Kunci : Soft pneumatic actuator, sensor, Fused deposition modeling, fabrikasi, GRA-Taguchi