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8. Soft robotics

Research

Inspiration

describe what you see in this image

Drosera

Drosera tokaiensis Biological classification Kingdom: Plantae Division: Tracheophyta Class: Magnoliopsida Order: Caryophyllales Family: Droseraceae Genus: Drosera

Drosera is a genus belonging to the family Droseraceae. Members of this family use stalked mucilage glands that cover their leaf surfaces to trap and capture prey. These carnivorous plants use insects as a supplement for mineral nutrients that are scarce in the soil. Species of Drosera vary greatly in size and shape, and they are found on every continent except Antarctica.

Materials and Tools

-Iron

-Baking Paper

-Paper

-Scissors

-Tape

-Pen

-Straw

-Arduino

-Cables

-Vinyle Paper(Blue and Green)

Fabrication Process of the Inflatable Soft Robotic Sample (Iron Method)

1.Cut two pieces of vinyl so that they fit the size of the iron’s pressing area.

2.Draw the desired shape of the air channels on a sheet of baking paper, then carefully cut it out. Remember to leave an opening where the straw will be inserted later.

3.Place the cut baking paper between the two vinyl layers.

4.Set the iron

5.To prevent the vinyl from sticking to the iron, place an additional sheet of baking paper both under and over the vinyl layers. Make sure these protective sheets are larger than the vinyl pieces.

6.Press the vinyl layers with the iron for 15 seconds, then remove and allow them to cool.

Process and workflow

My hand drawn sketches

Drosera

Biomimicry in Soft Robotic, Drosera sample drawings, Berrak Zeynep Okyar

Drosera is a genus belonging to the family Droseraceae. Members of this family use stalked mucilage glands that cover their leaf surfaces to trap and capture prey. These carnivorous plants use insects as a supplement for mineral nutrients that are scarce in the soil. Species of Drosera vary greatly in size and shape, and they are found on every continent except Antarctica.

1ST Sample

Drosera

Biomimicry in Soft Robotic, Drosera sample I, Berrak Zeynep Okyar

I was inspired by the Drosera plant, also known as the sundew, for its organic and flexible movements. To explore this concept, I drew a very fluid, natural shape and used it as the basis for my inflatable design. Instead of a heat press, I used an iron to seal the vinyl layers together.

After sealing, I trimmed the excess material around the shape. When air was blown into the inflatable, it unexpectedly bent at the narrow sections—similar to how Drosera plants curl when they capture their prey.

2ND Sample

Drosera

Biomimicry in Soft Robotic, Drosera sample II, Berrak Zeynep Okyar

I experimented with a triple Drosera figure by first testing the pattern on baking paper. Then, I created two layers of vinyl based on this new design. Using the sandwich technique similar to the previous process.I placed the baking paper pattern between the vinyl sheets and sealed them together with an iron.

This time, I developed a slightly different pattern to observe how changes in the shape would affect the inflation and movement of the structure. The experiment helped me better understand how the geometry of the air channels influences bending behavior.

3RD Sample - FAIL

Drosera

Biomimicry in Soft Robotic, Drosera sample III, Berrak Zeynep Okyar

In this experiment, I attempted to create a larger version of the Drosera-inspired inflatable. However, I encountered some unexpected results the colors of the vinyl layers are different, and I was unsure whether this was due to using a different material or because the layers were not sealed correctly.

We tried inflating the structure using an Arduino-controlled air pump, but the result was not very successful. Although the prototype did not function as expected, it provided useful insights into material behavior and connection quality at a larger scale.

4TH Sample - Biomaterial - FAIL

Drosera

Biomaterial in Soft Robotic, Drosera sample IV, Berrak Zeynep Okyar

This recipe was developed based on the TextileLab Amsterdam biosheet protocol.

First, we mixed the liquid ingredients together and then added sodium alginate to the mixture. In the white sample, we additionally incorporated sunflower oil to achieve a different color tone and to increase opacity.

After preparing the mixtures, we stretched two pieces of fabric on embroidery hoops. The mixtures were then poured onto the fabrics in sequence. Next, we cut ring-shaped pieces from baking paper .The goal was to later create a small inflatable ring inside the main bioplastic sheet, using these rings as a frame.

We sprayed calcium chloride solution onto the frame area to trigger the crosslinking process. Then, using a needle, we made a small puncture on one corner of the main sheet and inserted a syringe connected to an air pump. By carefully injecting air, we managed to slightly inflate the inner ring.

Although the result was not exactly as expected, we succeeded in forming a small air bubble, demonstrating the potential for creating inflatable structures within bioplastic materials.

5TH Sample - FAIL

Drosera

Soft Robotic, Gecko sample I, Berrak Zeynep Okyar

Drosera

Soft Robotic, Gecko sample I, Berrak Zeynep Okyar

Gecko-Inspired Pattern and Laser Cutting Experiment

In this experiment, I was inspired by gecko suckers, focusing on their adhesion and suction mechanisms. Initially, I planned to cut the vinyl sheet using a laser cutter to achieve cleaner and more precise edges. However, the vinyl material available in the lab was not suitable for laser cutting.

As an alternative, I attempted to laser-cut baking paper in order to obtain a sharper and more accurate pattern. Unfortunately, since the baking paper was too light, the cutting process did not go as expected and the edges came out uneven. Despite this, I decided to use the pieces I had.

When I proceeded to iron the vinyl layers, the material melted. I could not determine whether this was due to the lack of a protective outer film or because the vinyl sheet was old. As a result, I was unable to obtain a functional outcome and could not use this pattern during the week.

Nevertheless, I plan to revisit and reuse this design in the coming weeks for a different prototype or experiment, as I still believe it has strong conceptual potential.

6th Slicone Mold

Drosera

Slicone Mold, Soft Robotic, Carlos Roque

We used a PLA mold from the lab to fabricate the gripping actuator. Preparing the Silicone:

Equal amounts of Part A and Part B of Ecoflex were mixed together. Since the mixture begins to cure after about 45 minutes, it needs to be poured into the mold before that time.

Casting:

The silicone mixture was poured into the molds — two identical pieces are required for the actuator. As the silicone begins to cure within approximately 3 minutes, this process must be done quickly.

Adding the Fabric Layer:

Before the silicone was fully cured, a small piece of fabric was placed at the bottom of each mold. This fabric layer adds extra rigidity to the structure and can later be used to attach the parts with elastic bands for additional support.

Curing:

The molds were left at room temperature for about 3 hours, until the silicone was completely cured.

Joining the Parts:

A small additional batch of silicone was prepared and used to seal the two cured parts together.

Drosera

Slicone Mold, Soft Robotic, Carlos Roque

Final Curing:

The assembled actuator was left again at room temperature for another 3 hours to ensure a strong bond between the two layers.

Weekly Assignment

1.Document the concept, sketches, references also to artistic and scientific publications?

2.Make a soft robotic sample, develop the pattern for the Inflatable and draw a sketch of the air flow: build a pneumatic wrist brace (basic level) or build and document a Pneumatic, digitally controlled system, electronics schematic, electronic control and code (advanced level)

3.Design your own version of an inflatable / soft robot Experiment with different materials, such as silicones, 3d printing, parchment paper, thermoadesive vynil, TPU fabrics, bioplastic, document your achievements and unexpected outcomes Make a small video of your inflatable/soft robot working Upload your digital design files (if any)

Results

REFERENCES