Bill of Materials

Most of the parts are included in the NXT and EV3 kits.  Here are the common LEGO pieces used in our design.  If you have a Mindstorms kit, then you already have these parts.

Common Parts

Pneumatic Parts

Since we're integrating with pneumatic actuators, we need to include a few of the standard pneumatic parts.  These are not included the EV3 or NXT kits, but they can all be found on eBay or Lego Education for a reasonable price.  Take careful note when buying the pumps.  They look similar to pneumatic canisters.  We've even seen eBay seller mislabel and confuse the two.  Make sure to purchase pumps, not canisters.  Pumps only have 1 fitting to connect tubing to, and the large ones have springs on them.  The canisters do not have springs and have 2 tube connectors.

Third Party Parts

The design also calls for a third party sensor to measure the air pressure.  This sensor works with EV3 and NXT.  Mind Sensors has blocks on their site for using the sensor in EV3 and NXT software.  There is another pressure sensor available from Dexter Industries, but I found the design of Mind Sensors version to be more compact and less exposed.  Mind Sensors site is also easier to navigate to find the blocks and APIs for the sensor.

In the modifications section, we suggest using another vendor part for controlling the valves and an air tank.  We didn't use this motor controller in our prototype, but combining the controller with the tank will allow for quick, programmatic pressurizing and depressurizing of the pneumatic actuators.