Actuator

To fabricate the diaphragm actuators in our B-robot, we followed this procedure for each side:

1. Stretch a square piece of acrylic elastomer over a rigid cylindrical frame (see Figure 3.1.1)

2. Stick a bottle cap in the middle of the stretched film (see Figure 3.1.2)

3. Brush both sides of the stretched film with carbon powder (see Figure 3.1.3)

4. Stick carbon tape over both sides of the electroded film such that the tape extends over to the rigid cylindrical frame (see Figure 3.1.4). Connect the carbon tapes to copper wires using copper tape on the surface of the rigid cylindrical frame (see Figure 3.1.5).

5. Brush both sides of the electroded film with carbon grease for better sheet conductivity (see Figure 3.1.6)

Figure 3.1.1: Stretching the elastomer

Figure 3.1.2: Sticking the bottle cap

Figure 3.1.3: Applying carbon black

Figure 3.1.4: Sticking carbon tape

Figure 3.1.5: Sticking copper tape

Figure 3.1.6: Applying carbon grease