soft-robotics:general-recipe
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soft-robotics:general-recipe [2017/04/16 09:32] avnerus [1 Choose your mold and figure out required silicone quantities] |
soft-robotics:general-recipe [2017/04/25 04:30] (current) avnerus [14 Gently test inflation with a syringe] |
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| * Get both body and base layers ready for pouring before you start mixing. | * Get both body and base layers ready for pouring before you start mixing. | ||
| + | {{:soft-robotics:03.png?nolink&400|}} | ||
| ===== - Apply coating to the molds ===== | ===== - Apply coating to the molds ===== | ||
| Coating the molds in Vaseline would later help removing the cured silicone from the mold. | Coating the molds in Vaseline would later help removing the cured silicone from the mold. | ||
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| + | {{:soft-robotics:02.png?nolink&400|}} | ||
| ===== - Prepare any extra strain limiting materials ===== | ===== - Prepare any extra strain limiting materials ===== | ||
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| Refer to the [[soft-robotics:silicones|silicones]] page to figure out the ratio working time of your silicone. If you don't have a centrifugal mixer, use wooden mixing sticks. Mix thoroughly for 3 minutes. Weak mixing may result in curing failure. | Refer to the [[soft-robotics:silicones|silicones]] page to figure out the ratio working time of your silicone. If you don't have a centrifugal mixer, use wooden mixing sticks. Mix thoroughly for 3 minutes. Weak mixing may result in curing failure. | ||
| - | ===== - Place the mixed silicone cup in the vacuum chamber for ~5 minuets ===== | + | {{:soft-robotics:04.png?nolink&400|}} |
| + | ===== - Place the mixed silicone cup in the vacuum chamber ===== | ||
| 5 minuets should be enough to get rid of initial bubbles. | 5 minuets should be enough to get rid of initial bubbles. | ||
| - | ===== - Pour the silicone into the molds (Base layer only half way through) ===== | + | {{:soft-robotics:05.png?nolink&400|}} |
| - | Pour gently and slowly. Allow the silicone to spread evenly and then pour more layers. For the base layer, pour only half of the silicone. | + | |
| - | ===== - Place the molds in the vacuum chamber for ~5 minuets and pop out bubbles ===== | + | ===== - Pour the silicone into the molds ===== |
| + | Pour gently and slowly. Allow the silicone to spread evenly and then pour more layers. For the base layer, pour only half of the silicone, as you will later add the strain limiting layer. | ||
| + | |||
| + | {{:soft-robotics:06.png?nolink&400|}} | ||
| + | ===== - Place the molds in the vacuum chamber ===== | ||
| After 5 minutes lots of bubbles will rise to the surface. Pop them out with a pipette tip or other plastic instrument. | After 5 minutes lots of bubbles will rise to the surface. Pop them out with a pipette tip or other plastic instrument. | ||
| + | {{:soft-robotics:08.png?nolink&400|}} | ||
| ===== - Place strain limiting material on the base layer ===== | ===== - Place strain limiting material on the base layer ===== | ||
| Refer to the [[soft-robotics:strain-limiting|strain limiting]] page for more info. | Refer to the [[soft-robotics:strain-limiting|strain limiting]] page for more info. | ||
| + | |||
| + | {{:soft-robotics:07.png?nolink&400|}} | ||
| ===== - Place the molds in the oven at 65C ===== | ===== - Place the molds in the oven at 65C ===== | ||
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| - **Check that the silicone is hardened and doesn’t stick to your glove or feel gooey** - If it's not ready, put it back in the oven for more time. | - **Check that the silicone is hardened and doesn’t stick to your glove or feel gooey** - If it's not ready, put it back in the oven for more time. | ||
| - **Check that the fill height didn’t drop more than 2mm** - If it did, fill in extra silicone (Make a new cup, don't use an old one) and put back in he oven. | - **Check that the fill height didn’t drop more than 2mm** - If it did, fill in extra silicone (Make a new cup, don't use an old one) and put back in he oven. | ||
| + | |||
| + | {{:soft-robotics:09.png?nolink&400|}} | ||
| ===== - Remove the cured silicone from the molds ===== | ===== - Remove the cured silicone from the molds ===== | ||
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| Notice that if you overfilled your mold, you may have silicone attached above the edges of the mold. Use a utility knife to cut the excess attachment. | Notice that if you overfilled your mold, you may have silicone attached above the edges of the mold. Use a utility knife to cut the excess attachment. | ||
| + | |||
| + | {{:soft-robotics:10.png?nolink&400|}} | ||
| ===== - Make new silicone for the base layer + gluing ===== | ===== - Make new silicone for the base layer + gluing ===== | ||
| Do not reuse old silicone as it may have already been cured. | Do not reuse old silicone as it may have already been cured. | ||
| + | {{:soft-robotics:04.png?nolink&400|}} | ||
| ===== - Glue the body layer to the base layer ==== | ===== - Glue the body layer to the base layer ==== | ||
| - First put the base silicone back into its mold. | - First put the base silicone back into its mold. | ||
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| </code> | </code> | ||
| + | {{:soft-robotics:13.png?nolink&400|}} | ||
| ===== - Pierce a hole in the actuator and insert the tube ==== | ===== - Pierce a hole in the actuator and insert the tube ==== | ||
| Use the metal knitting needle to pierce the hole and gently attach the tube. | Use the metal knitting needle to pierce the hole and gently attach the tube. | ||
| Refer to the page of your [[soft-robotics:molds|mold]] for specific instructions on where and how to pierce the hole. | Refer to the page of your [[soft-robotics:molds|mold]] for specific instructions on where and how to pierce the hole. | ||
| + | {{:soft-robotics:molds:14.png?nolink&400|}} | ||
| ===== - Gently test inflation with a syringe ==== | ===== - Gently test inflation with a syringe ==== | ||
| **Do not inflate too much!** - If the inflation works properly, let the actuator rest and cure until the next day. Two main issues may be revealed: | **Do not inflate too much!** - If the inflation works properly, let the actuator rest and cure until the next day. Two main issues may be revealed: | ||
| - **The air channel is blocked** - If the actuator inflates only half way without any air running out, the air channel is blocked. use the knitting needle to gently pierce through the air channel until the block is removed. | - **The air channel is blocked** - If the actuator inflates only half way without any air running out, the air channel is blocked. use the knitting needle to gently pierce through the air channel until the block is removed. | ||
| - **There is a hole** - If air is running out of the actuator, immerse it in water while inflating to figure out where there is a hole. Use more silicone or silicone glue to patch the hole and try again. | - **There is a hole** - If air is running out of the actuator, immerse it in water while inflating to figure out where there is a hole. Use more silicone or silicone glue to patch the hole and try again. | ||
| + | |||
| + | {{:soft-robotics:17.png?nolink&400|}} | ||
soft-robotics/general-recipe.1492335175.txt.gz · Last modified: 2017/04/16 09:32 by avnerus
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