====== Soft Robotics ======

===== Make a soft gripper =====

Please go check [[https://softroboticstoolkit.com/book/modeling-soft-pneumatic-actuators|Soft robotics toolkit website ]]to learn how it actually soft grippers worked.

First of all, in case of gripper you have to 3D printed your gripper mold.

==== Silicon recipes; ====

For more flexible gripper you can use the Eco-Flex material.

|Eco-Flex 00-30 Part **A**   |%50 |  |
|Eco-Flex 00-30 Part **B**   |%50 |  |
|No need silicon spray! |  |  |

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For more rigid movent you can use Neukasil.

|Neukasil** RTV 22**   |%50 |
|Neukasil** vernetzer A 142**   |%50 |
|Neukadur silicon spray |  |

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=== Prepare the skin; ===

For encloser, we will produce thin skins and will use again silicon as a mortar to meld these the two structure. Silicon can always weld with each other under every process.

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Pour carefully material to put colour pigments but even thought ı put into the oven it did not dry with silicon.

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**Put into oven for 15 min. in 70 degree**

**{{:students:ayseesindurmaz:soft_robotic:img_6368.jpg?nolink&300x400|img_6368.jpg}}{{:students:ayseesindurmaz:soft_robotic:img_6364.jpg?nolink&300x400|img_6364.jpg}}**

After 15 min. Take your parts carefully and weld skin and your gripper together with using silicon again. Unfournetly, ı could not obtain any successful gripper because of air leaks.

{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:img_6362.jpg?nolink&300x400}}

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===== Make a Grimple =====

I decided to design tentacles which give air will rise up. First I designed in the 3Ds max and edited in the rhino.

{{:students:ayseesindurmaz:soft_robotic:adsız.jpg?nolink&247x300|adsız.jpg}}{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:octopusx.jpg?nolink&536x300|octopusx.jpg}}

For create mold, ı used thinkercad because this online software really useful for 3D printing.

{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:octopus_3x_1.jpg?nolink&533x300|octopus_3x_1.jpg}}{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:octopus_4x.jpg?nolink&533x300|octopus_4x.jpg}}

{{:students:ayseesindurmaz:soft_robotic:img_6439.jpg?nolink&533x400|img_6439.jpg}}

Then I used foamlab again to see my tentacles. But my material was too fragile for the printer and craked.

{{:students:ayseesindurmaz:soft_robotic:img_6536.jpg?nolink&225x300|img_6536.jpg}}{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:img_8873.jpg?nolink&400x300|img_8873.jpg}}

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====== İmplications ======

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====== Self Assembly ======

These are the documents what ı did in a month. Unfortunately, my heatable vinyl was out-dated. I could not finish and see the results properly.

here is the well-oriented document about printables.

[[http://wiki.textile-academy.org/fabricademy2017/students/under_my_skin|http://wiki.textile-academy.org/fabricademy2017/students/under_my_skin]]

I used cartoon for green lines represent in the image and baking paper represent in the image as red lines.

{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:2xxx.jpg?nolink&826x490|2xxx.jpg}}

{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:1xxx.jpg?nolink&491x207|1xxx.jpg}}

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{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:img_6534ccc.jpg?nolink&300x400|img_6534ccc.jpg}}{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:img_6530x.jpg?nolink&300x400|img_6530x.jpg}}{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:img_6523x.jpg?nolink&300x400|img_6523x.jpg}}

My First attempt did not work because of my heat transfer vinyl was outdated. So tried again.

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====== Second attempt ======

{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:process.jpg?nolink&800x600|process.jpg}}

I just wanted to see what are the **possibilities **when we subtract more materials what will happen when we give air.

{{:fabricademy2017:students:ayseesindurmaz:soft_robotic:process_2.jpg?nolink&800x600|process_2.jpg}}

You can see in the video how the behavior is changing on printflatables when we cut some connections.

{{ youtube>7X83yrKwpPU?medium }}

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