# 09 **SOFT ROBOTICS**

## **INSPIRATION**

<iframe width="1000" height="400" src="https://www.youtube.com/embed/iwQRYzLZvGE?si=OYTvKYx7d0yqSLy6" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>

<iframe width="1000" height="400" src="https://www.youtube.com/embed/YUhU-QckCSE?si=MywfHPKkYS7LhT15" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>

<iframe width="1000" height="400" src="https://www.youtube.com/embed/fkbIXSSFnyY?si=51ebLcsRMBjGlAqX" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>


## **INFLATABLES**

**How do they work？**

“The majority of inflatable structures are made up of an air cavity wall and roof. The structure is inflated and supported by a constant supply of air which is drawn from an integral fan with constant power. The air is drawn in from outside of the structure with a centrifugal fan. The fan sits in line with the structure and produces the airflow and pressure needed to lift the inflatable pod, cube or dome. The structure is made out of segments or panels which are sewn together with stitching and seams. These seams allow the structure to not over inflate as they continually leak through the hundreds of thousands of stitching holes created through the sewing. Internal ribs or straps allow the structure to form the shape of the structure. There are 2 membranes to an inflatable structure, an inner and an outer, the outer membrane surface is exposed to the outdoor or exterior environment and the inner membrane surface is exposed to the activity and people inside the structure. Air passed between these two membranes or air cavity walls and roof then escapes through the extremely small holes of the sewing or stitching. The air loss through the permeability of the material itself is limited by the addition of a PU (polyurethane) coating on the reverse of the material. Without this coated backing, the structure would not withhold enough air pressure to inflate and keep the structure inflated.”

From [How do inflatable structures work?](https://www.optixinflatablestructures.com/post/how-do-inflatable-structures-work#:~:text=The%20majority%20of%20inflatable%20structures,structure%20with%20a%20centrifugal%20fan.)

### **HEATPRESSING VINYL**

#### **1ST SAMPLE**

![VINYL](../images/week09/vinyl1.jpg){ width=1000}

<div style="padding:71.29% 0 0 0;position:relative;"><iframe src="https://player.vimeo.com/video/886744883?badge=0&amp;autopause=0&amp;quality_selector=1&amp;player_id=0&amp;app_id=58479" frameborder="0" allow="autoplay; fullscreen; picture-in-picture" style="position:absolute;top:0;left:0;width:100%;height:100%;" title="IMG_2567"></iframe></div><script src="https://player.vimeo.com/api/player.js"></script>

#### **2ND SAMPLE**

![VINYL](../images/week09/vinyl2.jpg){ width=1000}

<div style="padding:75% 0 0 0;position:relative;"><iframe src="https://player.vimeo.com/video/886750150?badge=0&amp;autopause=0&amp;quality_selector=1&amp;player_id=0&amp;app_id=58479" frameborder="0" allow="autoplay; fullscreen; picture-in-picture" style="position:absolute;top:0;left:0;width:100%;height:100%;" title="IMG_2569"></iframe></div><script src="https://player.vimeo.com/api/player.js"></script>

### **BAKING PAPER ORIGAMI**

#### **INSPIRATION**

<iframe width="560" height="315" src="https://www.youtube.com/embed/Ir69MXyOvFs?si=Wc0iBfhKwFj_iD-f" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>

#### **1ST SAMPLE**

<div style="padding:75% 0 0 0;position:relative;"><iframe src="https://player.vimeo.com/video/886931107?badge=0&amp;autopause=0&amp;quality_selector=1&amp;player_id=0&amp;app_id=58479" frameborder="0" allow="autoplay; fullscreen; picture-in-picture" style="position:absolute;top:0;left:0;width:100%;height:100%;" title="IMG_2598"></iframe></div><script src="https://player.vimeo.com/api/player.js"></script>

#### **2nd SAMPLE**

<div style="padding:75% 0 0 0;position:relative;"><iframe src="https://player.vimeo.com/video/886932738?badge=0&amp;autopause=0&amp;quality_selector=1&amp;player_id=0&amp;app_id=58479" frameborder="0" allow="autoplay; fullscreen; picture-in-picture" style="position:absolute;top:0;left:0;width:100%;height:100%;" title="IMG_2594"></iframe></div><script src="https://player.vimeo.com/api/player.js"></script>

### **LASERCUTTING TPU**

#### **1ST SAMPLE**

![FLOWER](../images/week09/flower1.jpg){ width=1000}

![process](../images/week09/process1.jpg){ width=1000}

![INFLATABLE](../images/week09/inflatable2.jpg){ width=1000}

You can download the fabrication file here [^1].

#### **2ND SAMPLE**

![FLOWER](../images/week09/flower2.jpg){ width=1000}

![INFLATABLE](../images/week09/inflatable1.jpg){ width=1000}

<div style="padding:107.24% 0 0 0;position:relative;"><iframe src="https://player.vimeo.com/video/886855994?badge=0&amp;autopause=0&amp;quality_selector=1&amp;player_id=0&amp;app_id=58479" frameborder="0" allow="autoplay; fullscreen; picture-in-picture" style="position:absolute;top:0;left:0;width:100%;height:100%;" title="INFLATABLE"></iframe></div><script src="https://player.vimeo.com/api/player.js"></script>

You can download the fabrication file here [^2].

#### **3RD SAMPLE**

![FLOWER](../images/week09/flower4.jpg){ width=1000}

<div style="padding:56.25% 0 0 0;position:relative;"><iframe src="https://player.vimeo.com/video/886744241?badge=0&amp;autopause=0&amp;quality_selector=1&amp;player_id=0&amp;app_id=58479" frameborder="0" allow="autoplay; fullscreen; picture-in-picture" style="position:absolute;top:0;left:0;width:100%;height:100%;" title="IMG_2675"></iframe></div><script src="https://player.vimeo.com/api/player.js"></script>

You can download the fabrication file here [^3].

#### **4TH SAMPLE**

<div style="padding:59.8% 0 0 0;position:relative;"><iframe src="https://player.vimeo.com/video/886744606?badge=0&amp;autopause=0&amp;quality_selector=1&amp;player_id=0&amp;app_id=58479" frameborder="0" allow="autoplay; fullscreen; picture-in-picture" style="position:absolute;top:0;left:0;width:100%;height:100%;" title="INFLATABLE"></iframe></div><script src="https://player.vimeo.com/api/player.js"></script>

You can download the fabrication file here [^3].

#### **5TH SAMPLE**

![FLOWER](../images/week09/flower3.jpg){ width=1000}

<div style="padding:139.26% 0 0 0;position:relative;"><iframe src="https://player.vimeo.com/video/886745356?badge=0&amp;autopause=0&amp;quality_selector=1&amp;player_id=0&amp;app_id=58479" frameborder="0" allow="autoplay; fullscreen; picture-in-picture" style="position:absolute;top:0;left:0;width:100%;height:100%;" title="IMG_2667 3"></iframe></div><script src="https://player.vimeo.com/api/player.js"></script>

You can download the fabrication file here [^4].

#### **FAILED SAMPLE**

![FLOWER](../images/week09/flower5.jpg){ width=1000}

You can download the fabrication file here [^5].


## **SOFT ROBOTICS**

<div class="sketchfab-embed-wrapper"> <iframe title="4-LEG-GRIPPER" frameborder="0" allowfullscreen mozallowfullscreen="true" webkitallowfullscreen="true" allow="autoplay; fullscreen; xr-spatial-tracking" xr-spatial-tracking execution-while-out-of-viewport execution-while-not-rendered web-share width="1000" height="400" src="https://sketchfab.com/models/42836868a1d14e7b9a2471c8fd1d5208/embed?autospin=1&autostart=1&camera=0"> </iframe> </div>

We used the PLA mold for the griping actuator from the lab. We used [this model](https://www.instructables.com/Air-Powered-Soft-Robotic-Gripper/) to print the mold. 

![ECOFLEX](../images/week09/molds.jpg){ width=1000}

### **SILICON GRIPPER**

![ECOFLEX](../images/week09/ecoflex.jpg){ width=1000}

![SILICON](../images/week09/sr1.jpg){ width=1000}

![SILICON](../images/week09/sra.jpg){ width=1000}

<div style="padding:56.25% 0 0 0;position:relative;"><iframe src="https://player.vimeo.com/video/886747622?badge=0&amp;autopause=0&amp;quality_selector=1&amp;player_id=0&amp;app_id=58479" frameborder="0" allow="autoplay; fullscreen; picture-in-picture" style="position:absolute;top:0;left:0;width:100%;height:100%;" title="SOFT ROBOTICS"></iframe></div><script src="https://player.vimeo.com/api/player.js"></script>

### **GELATIN GRIPPER**

![SILICON](../images/week09/gelatin.jpg){ width=1000}

### **FLOWER GRIPPER**

![gripper](../images/week09/Screenshot%202023-11-20%20150808.png){ width=1000}

![plexiglass](../images/week09/plexiglass.jpg){ width=1000}

![mold](../images/week09/mold.jpg){ width=1000}

![mold](../images/week09/flowermold.jpg){ width=1000}

![mold](../images/week09/flowermold2.jpg){ width=1000}

You can download the fabrication file here [^6].

## **FABRICATION FILES**

[^1]: [1st Sample](../files/WEEK8/FLOWER1.svg)
[^2]: [2nd Sample](../files/WEEK8/FLOWER2.svg)
[^3]: [3rd and 4th Sample](../files/WEEK8/FLOWER5.svg)
[^4]: [5th Sample](../files/WEEK8/FLOWER3.svg)
[^5]: [Failed Sample](../files/WEEK8/FLOWER4.svg)
[^6]: [Flower Base](../files/WEEK8/BASEFLOWER.svg)[Flower Frame](../files/WEEK8/BORDERFLOWER.svg)[Flower Airchannel](../files/WEEK8/MIDDLEFLOWER.svg)