Fabrication
This section provides details on the required steps for fabricating the prototype robot. This includes a description of the pneuNet fabrication process, the controller board for the soft robot, and the pneumatic system.
The required bill-of-materials for assembling each of the subsystems is as follows:
DESCRIPTION | QUANTITY | UNIT COST | TOTAL COST | PART NUMBER | SUPPLIER |
Flow control | |||||
Manifold, High Flow | 1 | $ 32.96 | $ 32.96 | 4750K29 | McMaster |
Valve 3-Way, NC, 24DC, High Flow | 8 | $ 37.50 | $ 300.00 | Parker | |
Electronics | |||||
Arduino Uno | 1 | $ 21.00 | $ 21.00 | AA-011003 | yourduino |
Toggle switch | 3 | $ 1.75 | $ 5.25 | B001TJ0ZAG | PartsExpress |
Breadboard (with jumper wires) | 2 | $ 13.50 | $ 27.00 | B004RXKWDQ | microtivity |
Zener Diodes | 8 | $ 0.25 | $ 2.00 | 1N4733A | sparkfun |
N-Channel MOSFET 60V 30A | 8 | $ 0.95 | $ 7.60 | FQP30N06L | sparkfun |
Screw Terminals 3.5mm Pitch (2-Pin) | 11 | $ 0.95 | $ 10.45 | 284391-2 | sparkfun |
Miscellaneous | |||||
PVC Tubing 1/8", (per foot) | 50 | $ 0.15 | $ 7.50 | 5233K51 | McMaster |
PVC Tubing 1/4", (per foot) | 25 | $ 0.13 | $ 3.25 | 5233K52 | McMaster |
Tube Fitting 1/8"to 1/16" | 1 | $ 8.21 | $ 8.21 | 2974K291 | McMaster |