Project Objectives
- Gain an understanding of pneumatic and hydraulic actuation
- Use machine design principles to help power soft robotics
- Design a mechanism to help power hydraulic actuation for a soft robotic fish
Supplies
Materials
- PLA filament
- Metal or 3D printed Spring
- Glass Syringes
- Small machine screws and nuts
- Wrench (for winding up mechanism)
- Silicone fish tail with connecting tubes
Equipment
Software
- 3D Modeling Software (e.g. Solidworks, AutoCAD)
Instructor Prep
Instructors should have a solid grasp of hydraulic and pneumatic systems in soft robotics, along with a basic understanding of machine design concepts. They should also be proficient in using 3D printers, and should have at least several to account for the large amount of printer time needed for this project. The instructor must also have a silicone fish tail already prepared for the students to actuate.
Phase Timeline
Phase 0: Design
- Initial design is developed and drafted on paper or using a computer based tool
- Conduct a brainstorming session for students to directly gain feedback during the design process.
- Once the initial design is created it is submitted to the educator and approved for development.
Phase 1: Gears and Spring Model
- Design spring mechanism with step down gears in 3D modeling software
- Design should include initial frame and support structure that holds the rotating components in place
Phase 2: Actuator Model
- Students must include models of syringes into their assembly (CAD models will be provided for students)
- The 3D model should be able to successfully actuate the syringes with both the linear and rotary components moving
*Instructionary note: this will require some of the components with the spring to not be fully mated because the spring cannot rotate.
Phase 3: Printing and Assembly
- All parts should be printed by a deadline specified by the instructor.
- Students should ensure their parts can be assembled with the fasteners availiable to them.