For
my final project, I would like to make a soft actuauted arm/tentacle.
It would be a proof of concept of the use of MR fluid for robotic
actuation.
Components :
Switchable magnets
Soft silicone casting
Boards for control of Magnet
Teflon(or any silicone sealing) channels filled with MR fluid
Soft silicone casting
After the molding and casting session, I found that the tentacle i cast
was too rigid. I intend to make a hollow one using the same process.
That casting will be embeded with the magnets and the channels with
wires coming off the inside to the board for control.
To Do : Find ideal thickness through trial and error for the arm to be completely soft when cast. (ASAP) and cast a first mold.
Switchable magnets
Using Ara's concept of switchable magnets, I would like to make one (and then replicate for more) to use it in the design.
To Do : Find list of components and order them, try to have one before next Monday if possible.
Board to control the magnet
The magnet
needs to be powered with a high current (ideally 5 A) over a period of
5 ms. This should be doable using a microcontroller and a MOSFET.
To Do :
Design a board to power one magnet (ASAP), Once it works and the design
is tested using 1 magnet then make a board to control all the magnets.
(
MR Channels
These channels
will be filled with MR and embedded in the mold. The outer material
needs to be flexible & silicone oil sealing. The small amount of MR
needed will be supplied from my lab.
To Do :
Order Teflon or other sealing material and make channels once the mold thickness is determined.
Schedule :
Week 1 : Finalize list of parts, make a magnet and make a mold
Week 2 : Make Board & Channels, Make first prototype with one magnet and one channel
Week 3 (only Weekend & 2 days) : Debug any problems & make final design.
Final Design :
4 channels with 3 (or more) magnets each.