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
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Cut the silicone tube down to 190mm Note: please adjust the length to fit your purpose. |
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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. |