Bill of Materials
This section will give a list of items that are used in this project with selected links to suppliers. You can download a more detailed Bill of Materials sheet here.
Note: Many of the items listed are just examples and you can use your own discretion to substitute parts which are easier or cheaper to obtain.
Molds
Chamber Mold (top and bottom parts)
Bottom Layer Mold
Click here to download the .stl files for these molds. You can then use a 3D printer to create the molds.
If you would like to modify the molds, click here to download the SolidWorks solid models.
Materials
Piece of office paper, cut to fit bottom mold
Pneumatic tubing/hose. We usually use tubing with an outer diameter of 1/8"
*Alternative: Elastosil M4601 2-part silicone rubber* has similar material properties to Dragon Skin 30 and can be substituted here. See the Design section for a discussion of other materials options.
Tools
Lab gloves
Thin (2-3mm) rod for piercing hole for tubing
Syringe (or air pump) to inflate the actuator
Equipment
Vacuum chamber
Lab oven (set to 65°C)
Mass scale
Mixing cups
Centrifugal mixer
Bibliography
Ilievski et al. (2011) Soft robotics for chemists.
Mosadegh et al. (2013) Pneumatic Networks for Soft Robotics that Actuate Rapidly.
Ogura et al. (2009) Micro pneumatic curling actuator: Nematode actuator.
Polygerinos et al. (2013) Towards a soft pneumatic glove for hand rehabilitation.
Shepherd et al. (2011) Multigait soft robot.
Sun et al. (2013) Characterization of silicone rubber based soft pneumatic actuators.
Contributors
Panagiotis Polygerinos
Bobak Mosadegh
Alexandre Campo