8. Soft robotics¶
Research¶
Getting inspired by nature and its movements, how can we use some of the same elements to behave similarly to soft robotics? We should also understand how to create these movements by placing mats and folds. From some of the reach, I came across some projects that were made by MIT students MIT’s aeroMorph is paper, plastic, and fabric self-folding origami
References & Inspiration¶
Saskia Helinsk
There was a past Student Saskia Helinsk from 2021/22 who did a review of different forms of how inflatables and movement in the soft robotics that could be applied. Samples and further reach on this topic.
I also found another sourche that barakes down some variation of muments and capblites with in soft roboticts here.
Tools¶
Tools for this week were for two different projects 1 was for instates to test out and see forms and understand how they move.
- Vinyl
- Baking paper
- Iron or Heat press
- Scissors or Laser cutter
The second one was with adding an electrical component with adding in Arduino and a flora circuit board to be able to program and ideate
- Arduino program
- Copper Tape
- Mosfet FQP30N6L
- Risitror
- 1N4001 Diode
- Cuirtuit board
-
Aligator Clips
Process and workflow¶
First¶
I ideated some ideas into steches of what to do or how I wanted the movment to do with the pecies. Then there was some trial and error but got results that I would like to keep ideating and playing with.
Second¶
Second, we used some heat-adhesive vinyl to create a base for the shape we wanted in baking paper. We either used scissors or a laser cutter to put it in the middle of the vinyl. Afterward, we took it to the heat press and set it at 135c for 15 seconds to make sure it was secured. We can take the film off both sides and inset the tube on the port side to see if there are any air leaks or if the form works.
Test on vinly¶
This process involves understanding how to use folds and cuts to create movements in soft robots. I wanted to make one that would look like an arm and another that could curl into itself.
Third¶
Casting the molds and sylicone for one of the molds we used Dragons Sikn and Eco Flex 00-30 that you can see here its 1-1 reatio of the two solution that come with in it and from there you set it drys with in 4 hours but you have 15 mintues of working time befroe it hardens. Afterwards you have to seal it with the same mixture as the base of the silicone to adheire the peaces together.
Fourth 3D Modle¶
Modled after a leaf in nature and trying to repicalte the same type of action with the mold that we had as an exaple from a pervious mold here at the lab. Attpted to make getlatin cast that I was hoping to create with bio material of some oranges that I had used from the previous week. But forgot to take into acount that the bio material sinks a significan amount and the moddle was too small walls to think and also relised i did the revers of the modle its self.
I will still leave ther ripe here just take into acount that you need biger mold and thinner walls when making youre matiral.
- 6gr of Agar Agar
- 6Gr of Gelatin
- 1 table spoon of orge powder
- 18mill of gilecerine
- 200 mill of Water that is warm
Electronic Sample¶
CODE
int poten=10; int gate=9; int mapPot; int valuePot;
void setup(){ pinMode(poten,INPUT); pinMode(gate,OUTPUT); Serial.begin(9600);
}
// the loop routine runs over and over again forever: void loop() { valuePot=analogRead(poten); Serial.println(valuePot); mapPot= map(valuePot, 0, 1023, 0, 255); analogWrite(gate,mapPot); }