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fabricademy2017:students:angela.barbour:week_11._soft_robotics [2018/02/20 23:03]
angelabarbour [Constructing a Soft Gripper]
fabricademy2017:students:angela.barbour:week_11._soft_robotics [2018/03/23 02:18]
angelabarbour
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  ==== 02. Constructing the Mold ====  ==== 02. Constructing the Mold ====
  
- == a. Cut the cardboard ==+ === a. Cut the cardboard ​===
  
 6 pieces 6,3 x 1,3 cm 6 pieces 6,3 x 1,3 cm
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 2 pieces 23 x 23 cm 2 pieces 23 x 23 cm
  
- == b. Mounting the mold ==+ === b. Mounting the mold ===
  
 Wrap the each two pieces from 6,3 x 1,3 cm together with the tape. Wrap the each two pieces from 6,3 x 1,3 cm together with the tape.
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- ​== ​b. Filling the mold ==+ ==== 03. Filling the mold ====
  
 Prepare the Silicone Rubber, mixing the catalizer With the silicone rubber solution in the proportion indicate for the manufacturer. Prepare the Silicone Rubber, mixing the catalizer With the silicone rubber solution in the proportion indicate for the manufacturer.
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- ​== ​c. Unmold and Joining the two pieces ​ ==+ ==== 04. Unmold and Joining the two pieces  ​====
  
  
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- ​== ​d. Installing the air system and Testing ​ ==+ ==== 05. 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. After everything is completlly dried, repair the edges, and cut the burrs, so the piece is as uniform us much as possible.
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- ​== ​e. Problems ==+ ==== 06. Problems ​====
  
 I have some problems, that were: I have some problems, that were:
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 {{ :​fabricademy2017:​students:​angela.barbour:​05_problems.jpg |}} {{ :​fabricademy2017:​students:​angela.barbour:​05_problems.jpg |}}
 +
 +
 +
 + ==== 07. Trying Again ====
 +
 +I made everything again, this time trying to make the gripper thinner.
 +
 +01. After constructing another gripper, I saw tht it was slightly curving with the pressure of the botle with air.
 +
 +02. So I covered with the curling ribbon as indicated in the tutorial.
 +
 +03. At this time I've seen that at the entrance of the poliestireno tube to the gruipper, it was a air leakage, so I have to unwrap the Gripper to fix this problem, with more fresh prepared silicone rubber.
 +
 +04. Now it seemed to be ok, so I let it dry very well, and tryed to push with the air botle bomb, but the curve produced was not enough to make the Gripper woks.
 +
 +{{ :​fabricademy2017:​students:​angela.barbour:​grippergarrafa.jpg |}}
 +
 +
 +05. So I decided to push the air with the compressor, but I was afraid that the structure was not strong enough.
 +
 +06. It seems to be ok, after some attempts finally I could pick up and raise the orange.
 +
 +
 +{{ :​fabricademy2017:​students:​angela.barbour:​laranja.jpg |}}
 +
 +
 +
 +07. But after only a few seconds, the pressure broke the silicone, and the orange dropped down.
 +
 +Well, I'm happy that I could achieve the challenge, and pick the orange up, but rhis material really isn't the best to make this experiment. ​
 +The entrance of the poliestireno tube was too fragile ! And the adhesion of the tubo to the silicone ws not the best.
 +I really use exactly the same tube they use in the tutorial, but I think it would be better if I had used silicone tube.
 +
 +08. Also , next time I will insert the tube when doing the silicone, because the imperfections around the tube hole, was what caused the almost explosion of the Gripper, opening a big hole like a knife cut.
 +
 +{{ :​fabricademy2017:​students:​angela.barbour:​dano.jpg |}}
 +
 +
 +But it was incredible useful doing all these attempts, because I could expience very much the silicone, the air pressure, and many details involved in the whole process.
 + 
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