#  Actuator 

 



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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**)

 ![Stretching the elastomer](/sites/g/files/omnuum4601/files/2025-05/unnamed%20%285%29.png)

 

**Figure 3.1.1: Stretching the elastomer**

 ![Sticking the bottle cap](/sites/g/files/omnuum4601/files/2025-05/unnamed%20%286%29.png)

 

 **Figure 3.1.2: Sticking the bottle cap**

 ![Applying carbon black](/sites/g/files/omnuum4601/files/2025-05/unnamed%20%287%29.png)

 

**Figure 3.1.3: Applying carbon black**

 ![Sticking carbon tape](/sites/g/files/omnuum4601/files/2025-05/unnamed%20%288%29.png)

 

**Figure 3.1.4: Sticking carbon tape**

 ![Sticking copper tape](/sites/g/files/omnuum4601/files/2025-05/unnamed%20%289%29.png)

 

**Figure 3.1.5: Sticking copper tape**

 ![Applying carbon grease](/sites/g/files/omnuum4601/files/2025-05/unnamed%20%2810%29.png)

 

**Figure 3.1.6: Applying carbon grease**