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fabricademy2017:students:angela.barbour:week_11._soft_robotics [2018/02/20 21:48]
angelabarbour [02. Constructing the Mold] 		fabricademy2017:students:angela.barbour:week_11._soft_robotics [2018/02/20 23:03]
angelabarbour [Constructing a Soft Gripper]
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 https://​www.youtube.com/​watch?​v=uPx8xwRpfFk https://​www.youtube.com/​watch?​v=uPx8xwRpfFk
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 +{{youtube>​uPx8xwRpfFk?​medium}}
  
 https://​www.instructables.com/​id/​Soft-Robotic-Grabber-No-3D-Printer-Required/​ https://​www.instructables.com/​id/​Soft-Robotic-Grabber-No-3D-Printer-Required/​
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 {{ :​fabricademy2017:​students:​angela.barbour:​02_molde.jpg |}} {{ :​fabricademy2017:​students:​angela.barbour:​02_molde.jpg |}}
  
 +
 + == c. Unmold and Joining the two pieces ​ ==
 +
 +
 +After 4 hours, verify if the silicone is already polimerized,​ dried and like a rubber.
 +
 +Remove the pieces gently from the Mold and put the basis over another cardboard and the piece A over it.
 +
 +Join the two pieces with another fresh bath of Silicone Solution prepared with the catalyzer.
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 +Be sure that every space between the two pieces is very well connected and take care to fix any imperfections.
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 +Let it dry and polymerize for at least 4 hours.
 +
 +
 +{{ :​fabricademy2017:​students:​angela.barbour:​03_molde.jpg |}}
 +
 +
 + == d. Installing the air system and Testing ​ ==
 +
 +After everything is completlly dried, repair the edges, and cut the burrs, so the piece is as uniform us much as possible.
 +
 +Take a Plastic Botlle, of at least one liter and drill a hole with a nail in the cap, so you can insert the tube on it, seal with Hot Glue.
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 +In one side of the Gripper, between two legs insert the bulb gently until it reaches the air chamber, seal it with the silicone rubber.
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 +Wait everything dry and test pressing the bottle that will blow the gripper.
 +
 +{{ :​fabricademy2017:​students:​angela.barbour:​04_assembly.jpg |}}
 +
 +
 +
 + == e. Problems ==
 +
 +I have some problems, that were:
 +
 +1. The silicone I've found here in Brazil is not very elastic, so when I inflate the gripper to test and after I should still wrap each leg with the ribbon to more resistance and control of the movement, but as I said the silicone rubber produced, was too hard. 
 +
 +2. I've made a layer too thick above the air chamber, so it almost doesn'​t move with the air pressure.
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 +Pressing the air inside the botlle I can see some movement but not enough to move the gripper'​s legs.
 +
 +3. Than I've tried making another piece with less thickness above the air chamber and with less catalyzer to see if the silicone rubber would be more flexible, but at the end it doesn'​t polymerize very well and I couldn`t unmold perfectly the basis.
 +
 +So I'm trying to obtain another kind of silicone to make everything again.
  
  
 +{{ :​fabricademy2017:​students:​angela.barbour:​05_problems.jpg |}}