====== Fast Bending Actuator ======

The Fast Bending Actuator is the most basic Pneunet design that is based on the [[soft-robotics:fast-pneunet|Fast Pneunet]] architecture. Its design is based on the research paper by Dr. Bobak Mosadegh: [[http://onlinelibrary.wiley.com/doi/10.1002/adfm.201303288/full|Pneumatic Networks for Soft Robotics that Actuate Rapidly]].

{{:soft-robotics:molds:fast_bending.png?nolink&600|}}

===== Fabrication =====
The fabrication process is described in detail on the [[http://softroboticstoolkit.com/book/pneunets-fabrication|Soft Robotics Toolkit page]].

===== Mold files =====
The [[http://softroboticstoolkit.com/book/pneunets-downloads|Downloads]] section on the toolkit website contains all of the molds. 

==== Our variations ====
We have made several variations on the molds:
  * One
  * Two
  * Three

===== Machine Limitations =====
The bottom half of the top layer cannot be laser cut.

===== Quantities =====

=== Basic shape ===
  * Top layer: ~35g
  * Base Layer: ~5g

===== Oven times =====

=== Basic shape ===
  * [[soft-robotics:silicones:dragonskin30|Dragon Skin 30]]: ~35min
  * [[soft-robotics:silicones:ecoflex30|Ecoflex 30]]: ~15min

===== Air inlet =====
From the toolkit website:
<code>
Using a thin metal rod, pierce the end of the actuator, an equal distance from both sides
and about 1/8” (3mm) from the bottom.  Aim the rod slightly downwards and don’t push it in too far.
The goal is to reach the central channel without puncturing any of the actuator’s walls.
</code>


{{:soft-robotics:molds:14.png?nolink&400 |}}
{{:soft-robotics:molds:fba_inlet.png?nolink&400 |}}