8. Soft robotics¶

Research¶

We started Soft Robotics Week by learning about robotics projects that combined biology, design, and engineering. Then we fabricate vinyl patterns and silicone molds to make inflatable fabrics and objects.

describe what you see in this image Petra Garajova Fabrication Workshop

The next day, we learned to program the air pumps and control the airflow. Then, we used a computer program to design our molds. The rapid prototyping process gave me other ideas for using inflatables, like making furniture, art, or wearable tech.

describe what you see in this image Robotic Workshop

References & Inspiration¶

Art exhibition

Architectural Environments for Tomorrow: New Spatial Practices in Architecture and Art, is an exhibition at the MOT Museum of Contemporary Art Tokyo, that explores the interconnectedness between technology, urbanism, and how designers respond to and influence our evolving global culture. In response to topographical patterns, an inflatable figure floats like a golden dome, creating a partial enclosure in the urban context.

I find these pieces particularly interesting because if we consider sustainable development and design as potential futures, we can develop non-polluting materials and temporary structures, starting with the concept of an inflatable, which often contains a large amount of plastic that ends up in landfills or our natural environment. This exercise in soft robotics, the field of creating compliant robots, has been highly stimulating, as it makes me think about new design possibilities on both a small and large scale.

Fabricademy Alumni Reference¶

Viviane Labelle

I also looked at Viviane Labelle project as a Fabricademy alumni. Her design project and creative process are organized and easy to follow.

Tools¶

Rhinoceros 3D
Laser Cutting Machine
Arduino Uno
Heat Press Machine
scissors

Materials¶

vinyl Transfer
baking paper
PLA
electronic DIY Kit
glue
plexiglass
scissors
Eco Flex Silicone
Red Natural Dye (optional)

Process and workflow¶

I started brainstorming by sketching some basic shapes to create an inflatable vinyl object that would fold in half, like a container or a lamp. I then designed a specific module, drew it onto baking paper, and cut it out.

I put the paper shape between two layers of transfer vinyl. To protect the vinyl during the heat transfer process, I added extra layers of baking paper on both sides of the vinyl.

Step 1:¶

Sketch¶

Sketch your ideas and indicate the airflow. In this diagram, diamond shapes show the folding sections, shaded areas represent holes, and the white space represents the air.

Sketch1GRG

Step 2:¶

Mold Fabrication (vinyl):¶

Cut two pieces of baking paper and two pieces of transfer vinyl to match the size of your design.
Stack the materials in this order:
- Baking paper (to cover the entire heat press)
- Transfer vinyl
- Your cut-out design
- Transfer vinyl
- Baking paper (to cover the base of the heat press)
Set the temperature to 135 C° and preheat for 15 minutes (900 seconds)
Place the stacked layers onto the preheated heat press
Close the press and apply pressure for 10-15 seconds at 135 C°
Let the material cool
Carefully peel off the top layer of transfer vinyl
Using a cutting mat and a sharp blade, trim around the edges of your design, leaving about a quarter-inch seam allowance
Test your inflatable design:
- Attach a thin silicone hose to your inflatable to connect it to the motor. If you've built an Arduino Uno prototype, now is the perfect time to test it. Remember to increase the air pressure slowly to prevent damage to your prototype.

Sketch1GRG

Step 3:¶

3D modeling¶

3D1GRG 3D model exploration - Design #2

3D2GRG 3D model exploration - Design #3

Step 4:¶

Laser cutter settings - Design 3¶

Plexiglass 3mm
Speed: 2
Power: 50
Passes: 1
Air assist: On
Z-offset: Manual

Step 5:¶

Mold fabrication (plexiglass)¶

Once I had my laser-cut pieces, I removed the parts that would serve as holes. Next, I sanded the edges of the pieces I intended to glue together to ensure they would bond properly.

3D2GRG Mold- Design #3

After gluing everything together and allowing it to dry, I mixed some red silicone and poured it into the mold. To join the two halves of the inflatable, I added a thin layer of silicone.

3D2GRG Mold- Design #3

Remove the silicone from the mold

Remember, when making inflatables, always check the air pathways to ensure you don’t accidentally seal them off

Step 6:¶

3D printing¶

3D printing - Design #2

Step 7:¶

Mold fabrication (silicone)¶

To achieve a rapid, high-quality print, I created a 3D model in Rhinoceros, exported it as an STL file, and configured the print settings for PLA material on my Bambu Lab 3D printer using the standard quality profile. Subsequently, I exported the document as a G-code file and printed the mold.

Once I had the printed black mold, I mixed a two-part silicone compound in a 1:1 ratio and added a touch of red colorant. After thoroughly mixing the two parts, I poured the mixture into the mold. Unfortunately, this initial mold didn't work for the inflatable due to an excessively thick silicone layer. However, I repurposed the mold for casting bio-silicone.

3D2GRG Sketch, 3D printed and silicone mold- Design #2