# Assembly of the System ## expand\_more ### 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. ![_dsc8632.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8632.jpg?itok=JhrMp05T) #### Parts list and Assembly Sort ![8548.png](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/8548.png?itok=3w-YNWzX) List 1. Braided outer mesh (190mm) Lay flat width: 12mm 2. Silicone tube (190mm) Outside diameter: 10mm Internal diameter: 8mm 3. Tube fittings (Unequal plug-in, straight) [PISCO PGJ10-8 and PGJ10-6](http://en.pisco.co.jp/download/cad3/a/a01/PGJ/) 4. Plastic hose clamps [Hellermann Tyton SNP-6](http://www.hellermanntyton.com/site/products/clips-clamps-plugs/snp6/192-10060) x2 5. Cable ties x4 6. Silicone oil ![_dsc8572.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8572.jpg?itok=WwaLuQbE) Cut the silicone tube down to 190mm Note: please adjust the length to fit your purpose. ![8578.png](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/8578.png?itok=48ZAxtcm) Spread the silicone oil inside the tube (highlighted area). ![_dsc8554.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8554.jpg?itok=g6SMrtE5) Φ8 and Φ6 tube fittings (unequal plug-in, straight type) ![_dsc8581.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8581.jpg?itok=eJMwkzKp) Carefully, insert the pipe of the tube fitting into the silicone tube. ![_dsc8585.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8585.jpg?itok=xdbuLHQq) Insert the tube fitting all the way down into the silicone tube. ![_dsc8592.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8592.jpg?itok=qQcYRTSw) Four cable ties ![_dsc8593.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8593.jpg?itok=iJ7RLa1p) Tighten the cable tie around the silicone tube. ![_dsc8596.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8596.jpg?itok=u0Mc_ww1) The second one is as well. ![_dsc8598.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8598.jpg?itok=RmxvlbMY) Cut the extra tie off. ![_dsc8604.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8604.jpg?itok=3fTt4F4_) Do the same on the other side. ![8609.png](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/8609.png?itok=DkZoMq0u) Cut the braided outer mesh down to 190mm. ![8558.png](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/8558.png?itok=XzxnkQCJ) To prevent the mesh from getting frayed, melt the end of the strands using a flame. ![_dsc8606.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8606.jpg?itok=F3mLqk47) Put the silicone tube into the mesh. ![_dsc8611.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8611.jpg?itok=Gh7YHnn_) The tube should fit all the way into the mesh. ![_dsc8619.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8619.jpg?itok=IMlxubiT) Tighten a plastic clamp around the end of the mesh. ![_dsc8621.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8621.jpg?itok=eaCBbLSa) Using a vise, you need to fully close the clamp. ![_dsc8632.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/_dsc8632_0.jpg?itok=ROXA2i3W) Clamp the other side in the same way. ### Step2: Connect the pump and McKibben actuators ![two_mckibben_and_a_pump.png](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/two_mckibben_and_a_pump.png?itok=B-Wm7VTS) 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](http://en.pisco.co.jp/download/cad3/a/a01/PPF/)). ### Step3: Fill the actuators with alcohol You need to prepare denatured alcohol in a bucket. Sort ![uimga0982.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/uimga0982.jpg?itok=qYd4xk3_) Start the pump and circulate alcohol to remove air. ![uimga0984.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/uimga0984.jpg?itok=3Kzuw3qN) Cap the outlet with the cap tube fitting. ![uimga0986.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/uimga0986.jpg?itok=gnhxd5RP) The capped side Mckibben actuator will be inflated. Then, cap the other side.