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 |
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