Final project - modular structure¶
Files and resources¶
The aim here is to provide a modular and low-cost structure, that could be adapted for multiple types of measurement typically used in soft robotics (video 3D tracking, force measurement, …). I want this structure to be:
- Low cost
- Compatible with classical material and tools used for tests benches (i.e. optical breadboards and mechanical equipment)
I found some inspiration on Denis’ site, who happens also to be my special instructor.
Bill of materials¶
Usually, those kind of structure are mode using aluminium profiles, but the extruded profiles cannot be made (of course) in a fab lab. A first version of the design (but bot based on laser-cutting) was developed in week 3, and an improved version is documented in week 4. So, I tried to design an alternative. I replaced the profiles by 3 types of pieces, 2 vertical and 1 horizontal. This is not a “clean” design, but this is supposed to be as modular as possible. I tried first with FreeCAD, using multiple files sharing a “master spreadshet”, but the too many bugs and the often closing software convinced me to let it go and use Solidworks, a tool that I master. Of course, I made all the design perfectly parametric.
And when laser cut on 5 mm multiplex wood:
Good! This solution seems OK! I am not totally satisfied since I feel like the structure could be simpler, but this design is rigid enough for the moment, and is very modular!
I also need fixations to fix the structure on optical breadboards. Here is the designed fixation, printed in 3D. I tried in parallel to print it with and without support, and the result was very similar, let’s avoid to waste material into supports!
And assembling the structure
A dark sheet was also added to allow to take nice pictures of the soft robot.