#  Fabrication 

 



 ##  

  expand\_more  

 
  

 

 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. (*Design*, *Preliminary 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)