This section of the project is meant to serve as a guide to fabricating a Soft Barrier robot. As mentioned before, a Soft Barrier robot consist of two main types of actuators, divided into different layered components. The components are quickly and carefully cast at room temperature then glued together using silicone. Below is an outline to the fabrication process.
Fabrication Outline:
- Laser cut the molds from acrylic sheets. Layer and glue down the parts to assemble.
- Gently mix the Rubber silicone (part A and B) and pour it into the molds. Using a straight strip of rigid material, evenly distribute the silicone throughout the mold and slide across the top to get rid of excess silicone.
- Allow the parts to set and then demold by manually peeling them off with the help of a blade.
- Glue the actuator components with uncured silicone and wait for the glue to cure.
- Actuate and check for openings. Fill in tiny openings with uncured silicone and wait for the filler to fully cure.