This section documents our fabrication process. It is divided into 3 subsections:

Actuator documents how we constructed a pair of diaphragm DEAs by hand.

Device Assembly describes how we installed the pair of diaphragm actuators in the hollow, sphereical exterior of our robot and connected the beam-mass to the diaphragms to create the internal centre-of-mass-displacement system. (DesignPreliminary model for more detailed explanation of the working mechanism)

Electrical Wiring describes how we connected the robot to the power supply and associated control system. (see Electrical input for more information on how we controlled the electrical power supplied to the robot)