Assembly of the System

Step1: Assemble McKibben actuators

As you know, the McKibben actuator is one of the most common traditional soft actuators. There are a lot of ways to make this actuator. The method we will introduce here is simple and useful to assemble using cheap commercial parts.

Parts list and Assembly

	List Braided outer mesh (190mm) Lay flat width: 12mm Silicone tube (190mm) Outside diameter: 10mm Internal diameter: 8mm Tube fittings (Unequal plug-in, straight) PISCO PGJ10-8 and PGJ10-6 Plastic hose clamps Hellermann Tyton SNP-6 x2 Cable ties x4 Silicone oil
	Cut the silicone tube down to 190mm Note: please adjust the length to fit your purpose.
	Spread the silicone oil inside the tube (highlighted area).
	Φ8 and Φ6 tube fittings (unequal plug-in, straight type)
	Carefully, insert the pipe of the tube fitting into the silicone tube.
	Insert the tube fitting all the way down into the silicone tube.
	Four cable ties
	Tighten the cable tie around the silicone tube.
	The second one is as well.
	Cut the extra tie off.
	Do the same on the other side.
	Cut the braided outer mesh down to 190mm.
	To prevent the mesh from getting frayed, melt the end of the strands using a flame.
	Put the silicone tube into the mesh.
	The tube should fit all the way into the mesh.
	Tighten a plastic clamp around the end of the mesh.
	Using a vise, you need to fully close the clamp.
	Clamp the other side in the same way.

Step2: Connect the pump and McKibben actuators

Connect McKibben actuators and the pump using polyurethane tubing (outer: 8mm inner: 6mm). Cap the end of McKibben actuators using cap tube fitting (PISCO PPF6).

Step3: Fill the actuators with alcohol

You need to prepare denatured alcohol in a bucket.

	Start the pump and circulate alcohol to remove air.
	Cap the outlet with the cap tube fitting.
	The capped side Mckibben actuator will be inflated. Then, cap the other side.