#  Fabrication 

 



 ##  

  expand\_more  

 
  

 

Fabrication of the manipulator occurs in three distinct steps, each detailed in one of the following pages:

1\. Design and 3D print the mold for the manipulator

2\. Coil and anneal the artificial muscles

3\. Pour the mold and embed the muscles

The required materials are listed below:

\- Ecoflex™ 00-10 silicone, parts A and B

\- Silver-coated nylon thread, at least 2 m length

\- 12V DC motor

\- DC power supply (capable of at least 12V and 2A)

\- Brass weights

\- Metal clamp stand (shown in muscle coiling section)

\- Binder clips (at least 4)

\- Thin carbon fiber rods, no larger than 1 mm in diameter

\- Oven capable of 150°C

\- ABS plastic filament and access to 3D printing

\- Measuring cup and mixing tools (such as spoons)

\- Various common tools (can be helpful: e.g. a flathead screwdriver for removal from mold)

### Contributors

David Trinko

Ali Abbas

Dr. Jianguo Zhao

### Bibliography

F. Ilievski et al. (2011) [Soft Robotics for Chemists](/publications/soft-robotics-chemists-0?admin_panel=1)

R. H. Baughman et al. (2014) [Artificial Muscles from Fishing Line and Sewing Thread](/publications/artificial-muscles-fishing-line-and-sewing-thread?admin_panel=1)