Fabrication

This section, divided into the following three parts, introduces a method to fabricate the actuation system.

  • Machining and Printing Parts
    Introduces some machining methods to make custom parts for the pump
  • Assembly of the Pump
    Introduces the way of assembly of the pump step by step 
  • Assembly of the System
    Introduces the way of assembly of McKibben actuators and connecting components.

Bill of Materials

We provide here a BOM for the pump. Most of the parts were purchased through Japanese online stores. You can replace unavailable parts with equivalent parts that you can buy.

Parts

Parts
Manufacturer's number
or specification
Custom
parts
Material
Qty
DC motor
Maxon DC motor 273752
1
Rotary encoder
CUI AMT103
1
Oil seal mounting
Milling
POM 7mm
1
O-ring
NOK 1A S-20
1
Oil seal
NOK SC6167
1
Low profile cap screw
M2.5x6mm
6
Motor mounting
Milling
POM 15mm
1
M2.5 insert screw
Ensat 302 000 025
5
M3 insert screw
Ensat 302 000 030
2
Cover side plate
Wire EDM
Oil-less slide plate 2.5mm
1
Rotor casing
Milling
Aluminium
1
O-ring
NOK 1A S29
1
Shim ring
Wire EDM
Stainless steel 1mm
1
Bottom slide plate
Wire EDM
Oil-less slide plate 2.5mm
1
Thin bearing
NMB DDA-2520
2
Outer rotor
EDM
Stainless steel 9.5mm
1
Inner rotor
EDM
Stainless steel 9.5mm
1
Stainless steel spacer
Hirosugi CU-2616PH 
3
Stainless steel cap screw
M2.5x20mm
2
Outlet casing
3D printing
Nylon
1
Tube fitting (inner hex, straight type)
PISCO POC8-01
2
Fitting (plug type)
PISCO SLP-M5 
1
Fitting (barb straight type)
PISCO SLC-0640-M5
1
O-ring
NOK 1A SS-145
2
Stainless steel cap screw
M2.5x25mm
3
/unit
Braided outer mesh
Lay flat width: 12mm
1
Silicone tube

Outside diameter: 10mm
Internal diameter: 8mm

1
Tube fittings (Unequal plug-in, straight)
PISCO PGJ10-8 
1
Tube fittings (Unequal plug-in, straight)
PISCO PGJ10-6
1
Plastic hose clamps 
Hellermann Tyton SNP-6 
2
Cable ties
4
Tube fitting (Cap type)
PISCO PPF6
1

Tools and Consumable

Other than the previous list, the following tools will be needed.

  • Silicone oil
  • Denatured alcohol
  • M5 tap
  • Rc 1/8 (short type) tap

Machines

  • CNC milling machine 
  • Wire EDM