soft_robotics

docs/index.html

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                                                         <li><h3>05/05/2020: <a href="week13.html"> <b> Week 13</b></a> </h3> 
                                                         <li><h3>12/05/2020: <a href="week14.html"> <b> Week 14</b></a> </h3> 
                                                         <li><h3>19/05/2020: <a href="week15.html"> <b> Week 15</b></a> </h3>
-                                                        <li><h3>Work in progress... <a href="week16.html"> <b> Week 16</b></a> </h3>    
+                                                        <li><h3>26/05/2020: <a href="week16.html"> <b> Week 16</b></a> </h3>    
                                                     </ul>
                                                       </header>
                                          

docs/projectmanagement.html

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                             <span class="image main"><img src="images/week14/week14.12.jpg" alt="" /></span>
                         
+                            <h1>Week 16. Wildcard Week</h1>
+                            <p>During this week, I used composites to create a piece of my model and see how it looked. If you want to know more, click on the following <a href="week16.html"> <b>link.</b></a> Here is a photo of the final result.</p>
+                        
+                            <p><img src="images/week16/week16.26.jpg" width="80%"; max-width="700" /></p>
+                        
                         
                         
                             <h1>Files</h1>

docs/week16.html

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                             <p><img src="images/week16/week16.01.jpg" width="80%"; max-width="700" /></p>  
                             
-                            <p style="color:orangered;"> <i>As I have mentioned, I am going to try to use the composite technique for my final project as a base for the landscape. It will be light and resistant. </i> 😊</p>
+                            <p style="color:orangered;"> <i>As I have mentioned, I am going to try to use the composite technique for my final project as a base for the landscape. It will be light and resistant. If I have time, I also wanted to try creating a soft robotics.</i> 🤖 😊</p>
                             
                             <h1>Group Assignment.</h1>
                             
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                             <p><img src="images/week16/week16.15.jpg" width="60%"; max-width="700" /></p>
                             
+                            <p><b>Important:</b> If we have leftover resin, we should not throw it away without curing or throw it down the sink. We will let it dry in the container and remove the film. We will have to throw away the brushes and rollers, because we will not cover them.</p>
+                            
                             <h1>Design a 3D mold</h1>
                             
                             <p>During <a href="week02.html"><b>Week 02,</b></a> Computer-Aided Design used <b>Blender</b> to design the modules for my model. Because I had already modeled each module the way I wanted, I export each one in the .STL format.</p>
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                             <span class="image main"><img src="images/week16/week16.18.jpg" alt="" /></span>
                             
-                            <p>Now I proceed to mix the <b>epoxy resin.</b> It is recommended to use <b>two pairs of gloves,</b> because the resin is quite sticky. It consists of two parts, Part A and Part B. I am going to add <b>100 gr</b> of <b>Part A</b> and <b>45 gr</b> of <b>Part B.</b> The plastic cup is 5 grams. I have 21 minutes to work with the resin.</p>
+                            <p>Now I proceed to mix the <b>epoxy resin.</b> It is recommended to use <b>two pairs of gloves,</b> because the resin is quite sticky. It consists of two parts, Part A and Part B. I am going to add <b>100 gr</b> of <b>Part A</b> and <b>45 gr</b> of <b>Part B.</b> The plastic cup is 5 grams. I have 21 minutes to work with the resin. </p>
                             
                             <span class="image main"><img src="images/week16/week16.19.jpg" alt="" /></span>
                             
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                             <p><img src="images/week16/week16.29.jpg" width="70%"; max-width="700" /></p>
                         
-                            <p>I cut three circles of linen (left) and three circles of burlap (right).</p>
+                            <p>I cut three circles of <b>linen (left)</b> and three circles of <b>burlap (right).</b></p>
                         
                             <p><img src="images/week16/week16.30.jpg" width="70%"; max-width="700" /></p>
                         
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                             <p><img src="images/week16/week16.31.jpg" width="70%"; max-width="700" /></p>
                         
-                            <p>For the concave mold I use burlap and for the convex mold I use linen. <b>3 layers</b> in each mold. To place each layer, I use a methacrylate cut to size, with it I guide myself. To put the epoxy resin I use the brush.</p>
+                            <p>For the concave mold I use burlap and for the convex mold I use linen. <b>3 layers</b> in each mold. To place each layer, I use a acrylic cut to size, with it I guide myself. To put the epoxy resin I use the brush.</p>
                         
                             <span class="image main"><img src="images/week16/week16.32.jpg" alt="" /></span>
                         
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                             <p><iframe src="https://player.vimeo.com/video/422132466" width="100%" height="360" frameborder="0" allow="autoplay; fullscreen" allowfullscreen></iframe></p>
                         
                         
+                            <h1>Extra credit. Soft Robotics</h1>
+                            <p>During the year 2017, my instructor <a href="http://wiki.textile-academy.org/fabricademy2017/students/nuria.robles"><b>Nuria Robles</b></a> carried out the <a href="https://textile-academy.org/"><b>Fabricademy.</b></a> One of the things that surprised me the most were <b>inflatables</b> and <b>soft robotics.</b> During <a href="http://fabacademy.org/2020/labs/leon/students/adrian-torres/week03.html#Inflatables"><b>week 03</b></a> I made an inflatable and this week I wanted to try creating a flexible silicone gripper.</p>
                         
+                            <p>So following the <a href="https://vimeo.com/245973919"><b>soft robotics video class</b></a> (minute 1:00:00) at Fabricademy taught by <a href="https://www.hochschule-rhein-waal.de/en/user/8555"><b>Dr. Lily Chambers</b></a> and seeing the documentation of <a href="https://class.textile-academy.org/2019/Montserrat/week11.html"><b>Montserrat Ciges </b></a>(Fabricademy 2019) I start to investigate.</p>
+                            <p>In Instructables I find a tutorial to create a <a href="https://www.instructables.com/id/Air-Powered-Soft-Robotic-Gripper/"><b>Soft Robotic Gripper.</b></a></p>
                         
+                            <p>So the first thing I do is print the <b>3D mold</b>, I use <b>PETG</b> because it holds more temperature than PLA in the oven. I take advantage of the fact that I have the Prusa I3 MK3S from the Fab Lab at <b>home</b> to print the piece and do the whole experience at home. The design I have taken from Instructables, and you can download it at the end of the assignment.</p>
                         
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+                            <span class="image main"><img src="images/week16/week16.36.jpg" alt="" /></span>
+                        
+                            <p>The next step is to prepare the silicone.</p>
+                        
+                            <p><img src="images/week16/week16.37.jpg" width="60%"; max-width="700" /></p>
+                        
+                            <h2>Ecoflex™ 00-30</h2>
+                        
+                            <ul><li>Super-soft, Addition Cure Silicone Rubbers.   
+                                <li>It has a <b>pot life</b> of 45 minutes and a <b>cure</b> of 4 hours.   
+                                <li>Within the <b>security aspect,</b> good ventilation is recommended, wearing safety glasses, vynil gloves and long sleeves. Wear vinyl gloves only. Latex gloves will inhibit the cure of the rubber. As we are in COVID-19 period, I use the mask. 😷
+                                <li><b>Mix ratio</b> is: 1 Part A : 1 Part B by weight or volume.     
+                                <li><b>Curing</b> Allow rubber to cure a minimum of 4 hours at room temperature 23°C before demolding.
+                                <li><b>Post Curing</b> Optional... Post curing the mold will aid in quickly attaining maximum physical and performance properties. After curing at room temperature, expose the rubber to 176°F/80°C for 2 hours and 212°F/100°C for one hour. Allow mold to cool to room temperature before using.  
+                                <li> More information, <a href="https://www.smooth-on.com/products/ecoflex-00-30/"><b>here.</b></a>    
+                            </ul>
+                            <p>This is the result of mixing the two parts, it gives us a soft, <b>transparent silicone.</b> Next I make a summary with the <b>safety pictograms.</b> (Gloves, glasses, and an apron or long sleeve are mandatory.) </p>
+                            
+                            <p><img src="images/week16/week16.38.jpg" width="60%"; max-width="700" /></p>
+                        
+                            <p>So once I have seen the characteristics of silicone, I prepare the work area (in this case the kitchen of my house, it will soon become a Lab 😂) with everything necessary.</p>
+                        
+                            <p><img src="images/week16/week16.39.jpg" width="70%"; max-width="700" /></p>
+                        
+                            <p>Next I calculate the volume of the 3D mold, to prepare the proportion of silicone. I use water, the mold without it weighs 35 grams and with water weighs 74 grams.</p>
+                        
+                            <p><img src="images/week16/week16.40.jpg" width="50%"; max-width="700" /></p>
+                        
+                            <p>Apart from the 3D mold, we must create a thin film so that when we remove the silicone, we will close the silicone with that thin film (I will create it on acrylic). For this I am going to have 50 grams of Part A and 50 grams of Part B.</p>
+                        
+                            <span class="image main"><img src="images/week16/week16.41.jpg" alt="" /></span>
+                        
+                            <p>We will slowly deposit the silicone and hit the mold so that the bubbles come out. We will create a very thin film of silicone on a flat surface, in my case I use a acrylic.</p>
+                            
+                            <span class="image main"><img src="images/week16/week16.42.jpg" alt="" /></span>
+                        
+                            <p>Following the assigment of Montserrat Ciges, I observe that he puts the two pieces to cure in the oven at 65 degrees and for 15 minutes. The oven of the Fab Lab León, the minimum temperature is 100 degrees, so I will try to put it alone for less than 10 minutes. 🔥🔥 But ... unfortunately I received more heat from the account, and I am not able to remove the silicone from the mold and even the PETG is soft. 😢 It is time to repeat the mold.</p>
                         
+                            <span class="image main"><img src="images/week16/week16.43.jpg" alt="" /></span>
                         
-                            <a href=""><b></b></a>
+                            <p>Once the process of creating the silicone has been repeated, this time I wait for it to cure naturally for 4 hours. And this is the result, incredible and has been perfect.</p>
                             
+                            <span class="image main"><img src="images/week16/week16.44.jpg" alt="" /></span>
+                        
+                            <p>It is time to join the two parts, the flat part and the gripper. We make a small mixture of the silicone and put a thin layer on the base (1 mm or so). We place the gripper and try not to get too much silicone into the channels, but they will clog it. Then, with a brush we seal the two parts well, the flat part and the gripper. We will leave the pieces to cure for 4 hours.</p>
+                        
+                            <p><img src="images/week16/week16.45.jpg" width="60%"; max-width="700" /></p>
+                        
+                            <p>Once the 4 hours have passed, we remove the silicone from the acrylic and verify that the two pieces have been completely sealed. I trim the excess silicone.</p>
+                        
+                            <span class="image main"><img src="images/week16/week16.46.jpg" alt="" /></span>
+                        
+                            <p>We make a small cut between the two legs of the gripper, to insert a tube (it is recommended to cut the tip in the shape of an arrow at 45 degrees). I place a non-return valve so that when I inflate with the pump the air is maintained.</p>
+                        
+                            <p><img src="images/week16/week16.47.jpg" width="70%"; max-width="700" /></p>
+                        
+                            <p>This is the video, it's amazing how the legs unfold and inflate. It looks like an octopus or a jellyfish. Awesome. 🤩</p>
                             
                             
+                            <p><iframe src="https://player.vimeo.com/video/422219863" width="100%" height="360" frameborder="0" allow="autoplay; fullscreen" allowfullscreen></iframe></p>
+                            
                             
                             <h1>Files</h1>
                             <p>Find below the files that I made for this assignment.</p>
                             <ul><li><a href=" https://skfb.ly/6SLYv"><b>Module 2 part 2</b></a>
                                 <li><a href="assignments/week16/cupon1.stl"> <b>Coupon test 1</b></a>
                                 <li><a href="assignments/week16/cupon2.stl"> <b>Coupon test 2</b></a>
-                                 
+                                <li><a href="assignments/week16/gripper.stl"> <b>Soft Robotics Gripper</b></a> 
                             </ul>
                             
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