#  Bill of Materials 

 



 ##  

  expand\_more  

 
  

 

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](/file_url/1206).

**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)

 

   ![image25](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/image25.jpeg?itok=ssLGzykz) 

 

 

 

 ### Bottom Layer Mold

 

   ![image27](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/image27.jpeg?itok=CH64qzPZ) 

 

 

 

  

 

 

 

[Click here](/file_url/100) 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](/file_url/97) to download the SolidWorks solid models.



 

##  Materials 

 



 ### Piece of office paper, cut to fit bottom mold 

 

   ![image26](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/image26.jpeg?itok=9cJ9Gu6V) 

 

 

 

  [### Dragon Skin 30

 ](http://www.smooth-on.com/Silicone-Rubber-an/c2_1115_1129/index.html) 

   ![dragonskin30](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/dragonskin30.jpg?itok=2HUgf29z) 

 

 

 

 ### Pneumatic tubing/hose. We usually use tubing with an outer diameter of 1/8"

[Vendor Link](http://www.mcmaster.com/#5790k15/=r2hme9)



 

   ![image37](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/image37.jpeg?itok=UZpxEaOT) 

 

 

 

  

 

 

 

**\*Alternative:**[ Elastosil M4601](https://www.wacker.com/h/en-us/silicone-rubber/room-temperature-curing-silicone-rubber-rtv-2/elastosil-m-4601-ab/p/000018458) 2-part silicone rubber\* has similar material properties to [Dragon Skin 30](http://www.smooth-on.com/Silicone-Rubber-an/c2_1115_1129/index.html) and can be substituted here. See the [Design](/book/pneunets-design) section for a discussion of other materials options.



 

##  Tools 

 



 ### Lab gloves

 

   ![image48](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/image48.jpeg?itok=gouzV_MJ) 

 

 

 

 ### Thin (2-3mm) rod for piercing hole for tubing

 

   ![image19_crop](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/image19_crop.png?itok=YWI17kmW) 

 

 

 

 ### Syringe (or air pump) to inflate the actuator

 

   ![0_4](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/0_4.png?itok=GQpSUkPW) 

 

 

 

  

 

 

 

##  Equipment 

 



 ### Vacuum chamber

 

   ![image44](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/image44.png?itok=GGYG5VSw) 

 

 

 

 ### Lab oven (set to 65°C)

 

   ![oven](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/oven.png?itok=Gi5q3ARI) 

 

 

 

 ### Mass scale

 

   ![image36](/sites/g/files/omnuum4601/files/styles/hwp_16_9__480x270/public/2024-11/image36.png?itok=CN8HZX6j) 

 

 

 

 ### Mixing cups

 

   ![00_0](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/00_0.png?itok=U5X9eHo5) 

 

 

 

 ### Centrifugal mixer

 

   ![thinky](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2024-11/thinky.jpg?itok=5hwTzDEN) 

 

 

 

  

 

 

 

##  Bibliography 

Ilievski et al. (2011) [Soft robotics for chemists.](/publications/soft-robotics-chemists)

Mosadegh et al. (2013) [Pneumatic Networks for Soft Robotics that Actuate Rapidly.](/publications/pneumatic-networks-soft-robotics-actuate-rapidly)

Ogura et al. (2009) [Micro pneumatic curling actuator: Nematode actuator.](/publications/micro-pneumatic-curling-actuator-nematode-actuator)

Polygerinos et al. (2013) [Towards a soft pneumatic glove for hand rehabilitation.](/publications/towards-soft-pneumatic-glove-hand-rehabilitation)

Shepherd et al. (2011) [Multigait soft robot.](/publications/multigait-soft-robot-0)

Sun et al. (2013) [Characterization of silicone rubber based soft pneumatic actuators.](/publications/characterization-silicone-rubber-based-soft-pneumatic-actuators)



 

##  Contributors 

Panagiotis Polygerinos

Bobak Mosadegh

Alexandre Campo



 

 

---

 Attachments- [  list\_alt  bom\_pneunet.xlsx ](/sites/g/files/omnuum4601/files/sorotoolkit/files/bom_pneunet_1.xlsx)
- [  snippet\_folder  pn\_mold\_cad\_stl\_files.zip ](/sites/g/files/omnuum4601/files/2024-11/pn_mold_cad_stl_files.zip)
- [  snippet\_folder  pn\_mold\_cad\_sw\_files.zip ](/sites/g/files/omnuum4601/files/2024-11/pn_mold_cad_sw_files.zip)
 
---