Individual Assignment

Manufacturing of Soft Robotics

I decided to use thonny to replicate a softrobotic grip. I look for some information in different web pages. I found thissoft robotic toolkit page that brings different softrobotics tools, resulting in a series of elements and explanations develop for different projects. I decided to explore how to develop soft robotic actuartors:

  1. I choose PneuNets Bending Actuators
  2. Anderson Zelarayan also used this web page first, so I decided to look for a similar actuator, but with four (04) arms
  3. The limitation for our project was to limited access to electroninc sensors
  4. Our instructor suggest to develop a neumatic system using a 50ml syringe, that was available within the FabAcademy inventory
  5. I needed to build a neumatic system, so I look for some medical supplies that I could use
  6. I choose two different products:
    • 01 Venoclysis System (fig A) that cost $0.5
    • 01 Administration System for Enteral Pump for Tube Feeding (figure B) that cost $9
  7. Then, we need to focus on developing the actuator
  8. Further, I found this project at by Fabian Veile - @FabianVeile at printables web page. The project is called Soft Robotic Gripper with Exoskeleton
  9. I downloaded the files, and printed a first version for testing this was printed locating the mold base at the 3D printer's X axis
  10. I decided to follow molding and casting week process to profuce the gripper
  11. We used Resine F-20 that requires Component A and B at a relantionship of 100/3
  12. The process requires to generate the first part of the mold using 4 3D printed parts
  13. The first result was good, like shown in the following image
  14. The first result was good, like shown in the following image, so I run the second step, that was to pour off a second layer of resin to enclosed the grip (figure A). Thus, I used a acryllic base to locate the first part of the grip. However I did not consider superficial tension phenomena. Hence the resin fill into the grip's channels, blocking the air (Figure B) like shown in the image below:
  15. The other problem was that the 3D printed mold broke during the disemsamble process. Thus, I need to change the mold position for 3D printing it, to avoid losing the mold during the process, like shown in the photo below
  16. With the 2nd mold I generated a new grip, and pour off a second enclose resin layer, in this case I pour off a slimer layer of resin, like shown in the photo below
  17. We tested the grip functioning by connecting the air system

  18. I decided to test the grip using a semi-sphere object

  19. Finally, I decided to test the grip with 100gr weigth

    20. You can download the 3D printing fileshere.