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Origami Robot

Origami Robot is a paper based robot. When electricity flows in the SMA, a pulling force is generated and moves the robot according to the folded angle of the paper.

Video

Preparation time: 10 min
Process time: 1 hour

Materials

Tools

  • Pen
  • Arduino
  • Solder
  • Bread board
  • Ruler
  • Nipper
 

Directions

Prepare the laser cutter

Send the data to the laser cutter and adjust the settings. (Height, Volume, Power for each colored line, etc.)download : origami_cutting_pattern Setting for Manual Control – Black : Power 15.0%, Speed 100%, PPI 67, Z-Axis Off, Laser Both – Red : Power 5.0%, Speed 92%, PPI 500, Z-Axis Off, Laser Both – Green : Power 36.8%, Speed 61%, PPI 267, Z-Axis Off, Laser Both – Yellow : Power 16.4%, Speed 100%, PPI 500, Z-Axis Off, Laser Both – Blue : Power 8.5%, Speed 40%, PPI 500, Z-Axis Off, Laser Both    

Set the paper

Set the paper and move it in the available area.  

Laser cut the paper

The laser cutter will cut the paper in the proper depth based on the settings.

Fold the robot

Fold the paper along the guide lines.

Check the movement

Make the fold in the middle of the robot move softer by gently scraping it with a scissor blade.

Prepare the SMAs

Cut 2 SMAs in the length of 10mm. The SMA is usually wrapped around a cable. Gently separate the SMA form the cable by turning it gently to take out the cable. Throw the cable away, the remaining part is the SMA.

Wire the SMAs and pins

Cut 4 wires in the length of 45cm. Make one knot at each end of the wire. Gently pull the SMA to stretch out the ends of the wire. Insert the edge of a SMA to the wire’s knot. Tie the knot with SMA in between.

SMA

Done! Make 2 pieces of SMA. There is another Recipe to explain how to make SMA.

Soldering

Make a knot at the other end of each wire. Tie the wire to the pin and solder them together.

Sleeving

Cover it with the heat shrinkable sleeve.

Marking center

Mark the center of the paper with a pen. Cut shallow slits with scissors.

Attach the SMAs

Pass the SMA through the slits.

Circuit

Connect the SMAs to a circuit. Make your own designs and test various types of locomotion.

Arduino Control

You can design the movement of Origami Robot by controlling SMA with Arduino.    

More Information

  • Instructor in video : Lee Dongchi
  • Paper : D. Lee, K. Saito, T. Umedachi, T. D. Ta, and Y. Kawahara, “Demo: Origami Robots with Flexible Printed Circuit Sheets,” Adjunct Proc. of ACM UbiComp 2018, pp. 392-395, Singapore, Oct. 2018.

Mini “More Extensible” Pneumatic Artificial Muscle with Bellows

The original McKibben type pneumatic muscle can contract like muscles. We can also make an extensible pneumatic artificial muscle with same materials. A difference is using a braided sleeve with shorten state.

Video

https://youtu.be/ZgiZtd0dn6U
Process time: 60 min

Materials

  • Expandable braided cable sleeving (adaptive size from 6mm – 1/4″ to 13mm – 1/2″) MacMaster-Carr, Expandable Polyester Sleeving, 9284K2
  • Soft Latex rubber tubing (outer diameter: 6mm – 1/4″, inner diameter: 4mm – 5/32″) McMaster-Carr, Super-Soft Latex Rubber Semi-Clear Tubing, 5234K962
  • Barbed tube fittings
    • a reducer connector (for 1/8″ – 1/16″ tube inner diameter) McMaster-Carr, Barbed Tube Fitting, 5121K221
    • a plug (for 1/8″ tube inner diameter) McMaster-Carr, Barbed Tube Fitting, 5463K75
  • Cable ties (zip ties) (width: 2.5mm)

Tools and Equipments

  • Metal rod (diameter: 6mm, length: about 150mm)
  • Air tube (outer diameter: 3.2mm – 1/8″, inner diameter: 2mm – 5/64″) SMC, Polyurethane Tubing, TIUB01
  • Scissors
  • Ruler
  • Syringe
  • Cable tie gun (optional)
 

Directions

Prepare sleeving

Cut the braided sleeve in the four times the length of the desired muscle length, for example 320mm (=80m x 4).

Make the bellows

Insert a metal rod into the braided sleeve. Tie up the end of the rod and sleeve together with a cable tie. Push the sleeve along the rod and make bellows until no more shortening.

Tie up

Then tie up the other end of the sleeve.

Bake the sleeving

Bake in an oven at 120°C (248°F) for 20 minutes to fix the shorten state.

Prepare the sleeving

Put marks with tapes on the shortened sleeve with rod in the desired length, for example 80mm. Release the sleeve from the rod and cut the sleeve according to the marks.

Prepare the rubber tube

Cut the rubber tube in the same length.

Insert plug

Insert the barbed plug into the end of rubber tube.

Bundle

Insert the rubber tube into the braided sleeve.

Tie up

Tie up the end of the tube and sleeve together with a cable tie over the barbed plug. Tighten the cable tie to prevent air from leaking. Cut off the excess strap of the cable tie.

Insert connector

Insert the barbed connector into the other end of the rubber tube.

Finishing

Tie up the end of tube and sleeve together with a cable tie over the barbed connector. Tighten the tie to prevent the tubes from slipping off. Cut off the excess strap of the cable tie.

Test

Connect the air tube and syringe to inflate the rubber tube and contract the artificial muscle.

Test other muscles

Test other recipes, too. Bon Appétit! (but don’t eat)  

Related Recipes

Mini “Extensible” McKibben Pneumatic Artificial Muscle

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The original McKibben type pneumatic muscle can contract like muscles. We can also make an extensible McKibben muscle with same materials. A difference is using a braided sleeve with shorten state.

Video

 
Process time: 60 min

Materials

  • Expandable braided cable sleeving (adaptive size from 6mm – 1/4″ to 13mm – 1/2″) MacMaster-Carr, Expandable Polyester Sleeving, 9284K2
  • Soft Latex rubber tubing (outer diameter: 6mm – 1/4″, inner diameter: 4mm – 5/32″) McMaster-Carr, Super-Soft Latex Rubber Semi-Clear Tubing, 5234K962
  • Barbed tube fittings
    • a reducer connector (for 1/8″ – 1/16″ tube inner diameter) McMaster-Carr, Barbed Tube Fitting, 5121K221
    • a plug (for 1/8″ tube inner diameter) McMaster-Carr, Barbed Tube Fitting, 5463K75
  • Cable ties (zip ties) (width: 2.5mm)

Tools and Equipments

  • Metal rod (diameter: 6mm, length: about 150mm)
  • Air tube (outer diameter: 3.2mm – 1/8″, inner diameter: 2mm – 5/64″) SMC, Polyurethane Tubing, TIUB01
  • Scissors
  • Ruler
  • Syringe
  • Cable tie gun (optional)
 

Directions

Prepare sleeving

Cut the braided sleeve in the three times the length of the desired muscle length, for example 160mm (=80m x 2). Insert a metal rod into the braided sleeve. Tie up the end of the rod and sleeve together with a cable tie. Push the sleeve along the rod until no more shortening. Then tie up the other end of the sleeve.

Bake the sleeving

Bake in an oven at 120°C (248°F) for 20 minutes to fix the shorten state.

Prepare tube and sleeving

Put marks with tapes on the shortened sleeve with rod in the desired length, for example 80mm. Release the sleeve from the rod and cut the sleeve according to the marks. Cut the rubber tube in the same length.

Insert plug

Insert the barbed plug into the end of rubber tube.

Bundle

Insert the rubber tube into the braided sleeve. Tie up the end of the tube and sleeve together with a cable tie over the barbed plug. Tighten the cable tie to prevent air from leaking. Cut off the excess strap of the cable tie.

Insert connector

Insert the barbed connector into the other end of the rubber tube.

Finishing

Tie up the end of tube and sleeve together with a cable tie over the barbed connector. Tighten the tie to prevent the tubes from slipping off. Cut off the excess strap of the cable tie.

Test

Connect the air tube and syringe to inflate the rubber tube and contract the artificial muscle. Bon Appétit! (but don’t eat)  

Related Recipes

Pneumatic Pouch Motor (hinge type)

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Make a pouch with plastic films and a sealer then become a soft hinge actuator!

Video

Submit a form.
Process time: 20 min.

Materials

  • polyethylene freezer bags (thickness: from 2mil – 0.05mm to 3.5mil – 0.09mm) Buy(Japan)
  • air connector (outside pie 1.5mm) Buy(Japan)
  • double-sided adhesive tape (Strong Type)
  • adhesive tape
  • paper board

Tools and Equipment

Directions

Trace a pattern

Put a film on a printed pattern and trace the shape with crosses or dots with a pen.

Cut Films

Cut a pair of films bigger than the pattern.

Seal

Adjust a timer dial of a heat sealer to the lowest setting that will still seal the films (maybe around 2.5). Place a pair of films on the sealer. Adjust the position to make sure that the crosses/dots are on the sealing line. Push the sealing arm down and keep the arm down for 3-4 seconds. Repeat the sealing process to make a square pouch.

Cut a Pouch

Cut the margin of the films along the outline of the pouch.

Make a Hole

Make a cross/dot to mark the position of an air inlet hole with a pen. Fold the films crosswise around the mark. Cut a VERY small piece off from the corner of the films with a scissors.

Check

Unfold the films to check the hole. The diameter of the hole must be around 1-2mm. If it’s too big, cover the hole with a tape and try again on the other side.

Prepare a connector

Apply a both-sided tape on the bottom of a connector. Make a through hole with an awl.

Put the connector on the pouch

Fix the connector on the hole of the pouch.

Cover the flip side

Cover the another hole on the flip side with a tape.

Prepare paper tabs

Make two square pieces of paper boards fit to the size of pouch to make a tabs. Apply both-sided tape on the one side of the piece. Cut two corners off a square.

Put tabs

Fix two square pieces of paper board on the both side of the pouch.

Move

Connect a syringe and tube to the pouch. Push the air into the pouch to see the inflation of the pouch make a flapping motion. Try different sizes!  

Download

  • Pouch patternpouch_samples
  • 3D model of the connector (STL file)

Related Recipes

Pneumatic Pouch Motor (muscle type)

Video

Process time: 20 min.

Materials

  • polyethylene freezer bags (thickness: from 2mil – 0.05mm to 3.5mil – 0.09mm) Buy(Japan)
  • air connector (outside pie 1.5mm) Buy(Japan)
  • double-sided adhesive tape (Strong Type)
  • adhesive tape

Tools and Equipment

Directions

Trace a pattern

Put a film on a printed pattern and trace the shape with crosses or dots with a pen.

Cut Films

Cut a pair of films bigger than the pattern.

Seal

Adjust a timer dial of a heat sealer to the lowest setting that will still seal the films (maybe around 2.5). Seal ONLY the outer lines of the pattern. Do NOT seal partition lines with a small gap. Place a pair of films on the sealer. Adjust the position to make sure that the crosses/dots are on the sealing line. Push the sealing arm down and keep the arm down for 3-4 seconds. Repeat the sealing process to make a big square outline.

Make partition seals

You can make a gap in the middle of sealing line with a paper board tape. Put a narrow paper board on the sealer, then make a partition lines on the inside of the pouch. The gap become tunnels between subdivided pouches.

Cut a Pouch

Cut the margin of the films along the outline of the pouch.

Make a Hole

Make a cross/dot to mark the position of an air inlet hole with a pen. Fold the films crosswise around the mark. Cut a VERY small piece off from the corner of the films with a scissors.

Check

Unfold the films to check the hole. The diameter of the hole must be around 1-2mm. If it’s too big, cover the hole with a tape and try again on the other side.

Prepare a Connector

Apply a both-sided tape on the bottom of a connector. Make a through hole with an awl.

Put the connector on the pouch

Fix the connector on the hole of the pouch.

Cover the flip side

Cover the another hole on the flip side with a tape.

Move

Connect a syringe and tube to the pouch. Push the air into the pouch to see the inflation of the pouch make a flapping motion. Try different sizes/shapes!  

Download

Related Recipes

【ワークショップ開催】 空気で動くやわらかいロボットを作ろう!

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ご案内

小学生5~6年、中学生向けの夏休みワークショップを開催します。やわらかいロボットを研究する東京大学の先生らが、空気で動くロボットの作り方を直接教えます!動きを作るための手法を学び、自分だけのロボットを作りましょう。自分が作ったロボットと研究シートは持って帰ることができます。

概要

  • 空気で動くやわらかいロボットの作り方を学び、自分だけのロボットを作って持って帰る
  • 2018年 8月18日(土)・19日(日) 13:00 – 17:00
  • 定員:各回 15名(先着順、18日と19日は同じ内容で行われます)
  • 対象:小学校5~6年、中学生
  • 参加費:無料
  • 場所:東京大学 本郷キャンパス 情報学環オープンスタジオ
  • 主催:JST ERATO川原万有情報網プロジェクト

詳細

  • 空気で動くアクチュエータの原理を学びます。
  • 自分だけのロボットを考えて、作ってみます。
  • 目標としていたもの・試行錯誤の内容・実際できたものを参加者で共有しながら、動作の理解を学びます。
  • 進捗によっては、空気をつかったパウチモーター以外のアクチュエータも扱います。
  • 作ったものはお持ち帰りいただけます。
  • 全てのプロセスはこちらで用意した自由研究シートに記録して持って帰ります。
  • どんなロボットを作るかから実際の製作まで東京大学の先生と学生が丁寧に指導して進めます。
  • 保護者の付き添いは必須ではありませんが、保護者の方には会場内か控室でお待ちいただくことができます

申し込み方法

こちらのリンクに連絡先をご記載ください。 詳細について改めてご連絡させて頂きます。

Examples (updated 8/1)

よいっしゃー起き上がれ! モミモミしてくれる〜。 もじゃもじゃウニョウニョ ほっぺたプニプニ キラキラ〜。

Muscle-driven Jumping Tripod Robot

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Animal-like tripod

Video

Approximate Time: 60 min

Materials

Tools and Equipments

  • Screw Driver
  • Pliers
  • Syringes and tubing
  • Pneumatic Valves and air compressor (optional)
 

Directions

Make a leg

Make a connection between two leg links with a screw and two nuts. Make sure you have little clearance between first nut and the acrylic plate. Tightening second nut on the first nut makes locking effect. It’s become a knee joint.

Muscle Preparation

Put wire on the head of nylon tie of both ends of the muscle.

Leg Assembly

Tie the muscle to the leg. One end to the knee and another end to the heel.

Integration

Put all three legs together on the body plates.

Tubing and Testing

Insert tubes into all three muscle. Supply pressured air to the muscles with syringes or air compressor. Pneumatic solenoid valves can be used to on/off control of the muscles. Bon Appétit! (but don’t eat)

Download

Related Recipes

Mini McKibben Pneumatic Artificial Muscle

0
Classic artificial muscle invented in the 1950s.

Video

Submit a form.
Process time: 60 min

Materials

  • Expandable braided cable sleeving (adaptive size from 6mm – 1/4″ to 13mm – 1/2″) MacMaster-Carr, Expandable Polyester Sleeving, 9284K2
  • Soft Latex rubber tubing (outer diameter: 6mm – 1/4″, inner diameter: 4mm – 5/32″) McMaster-Carr, Super-Soft Latex Rubber Semi-Clear Tubing, 5234K962
  • Barbed tube fittings
    • a reducer connector (for 1/8″ – 1/16″ tube inner diameter) McMaster-Carr, Barbed Tube Fitting, 5121K221
    • a plug (for 1/8″ tube inner diameter) McMaster-Carr, Barbed Tube Fitting, 5463K75
  • Cable ties (zip ties) (width: 2.5mm)

Tools and Equipments

  • Air tube (outer diameter: 3.2mm – 1/8″, inner diameter: 2mm – 5/64″) SMC, Polyurethane Tubing, TIUB01
  • Scissors
  • Ruler
  • Syringe
  • Cable tie gun (optional)
 

Directions

Prepare tube and sleeving

Cut the rubber tube in the desired length, for example 80mm. Cut the braided sleeve in the same length as the rubber tube.

Insert plug

Insert the barbed plug into the end of rubber tube.

Bundle

Insert the rubber tube into the braided sleeve. Tie up the end of the tube and sleeve together with a cable tie over the barbed plug. Tighten the cable tie to prevent air from leaking. Cut off the excess strap of the cable tie.

Insert connector

Insert the barbed connector into the other end of the rubber tube.

Finishing

Tie up the end of tube and sleeve together with a cable tie over the barbed connector. Tighten the tie to prevent the tubes from slipping off. Cut off the excess strap of the cable tie.

Test

Connect the air tube and syringe to inflate the rubber tube and contract the artificial muscle. Bon Appétit! (but don’t eat)  

Related Recipes

DEA (Dielectric Elastomer Actuator)

When voltage is applied to the dielectric elastomer actuator (DEA), the electrodes coated on both sides of the soft material are stretched and deformed (the surface area of the electrode part seems to increase or decrease as it looks).

Video

Preparation time: 10 min
Process time: 40 min

Materials

  • Elastomer sheet (Acrylic elastomer, VHB4910J by 3M)
  • Stencil sheet (PET with release treatment of silicon, design is explained in the instruction)
  • Carbon powder (Black Pearl 2000 by Cabot)
  • Ring Frame (POM, inner diameter : 80mm, outer diameter : 100mm, thickness : 10mm)
  • Guide paper (The diameter of the circle is 26.6mm)
  • Aluminium tape
  • Gloves

Tools and Equipments

  • High voltage power (~5.5kV)
  • Pen
  • Cutter
  • Brush
  • Spatula

Directions

Draw the guide line

Cut the elastomer sheet in the size of 80mm x 80mm. Place the sheet on the guide paper with the sticky side facing up. Draw the guide line on the elastomer sheet. The diameter of the circle is 26.6mm.

Stretch

Peel off the film from the elastomer sheet. Put the sheet on the acrylic frame and stretch it little by little. This process adds triaxial strain, which has the effect of thinning the film’s thickness, constraining the direction of movement, improving the withstand voltage, and controlling rigidity.

Stretch even more

Stretch the elastomer sheet until the guide line meets the acrylic frame.

Cut off

Cut the excess elastomer sheet off. The frame is done!

Stencil sheet

Place the stencil sheet on the center of the frame. The diameter of the circle is 30mm and the width of the wiring part is 5mm. Design of the Stencil Sheet

Carbon Powder

Put a single dose of carbon powder on the elastomer sheet with a spatula. Spread it on the sheet as thin and as even as possible with a brush.

Take off

Discard the excess powder and remove the stencil sheet.

The opposite side

Place the other acrylic frame on top. Turn it over to make another electrode on the opposite side. Do the same process from “Stencil sheet”. But the electrode should be rotated 90 degrees.

Wiring

Cut the aluminum tape in the width of the electrode’s wiring part. Attach the tape to the wiring parts on each side of the elastomer sheet. Fold the excess tape.

Connect power

Connect the electrodes to a high voltage power supply. For safety, ensure that the negative electrode is on the top. (The positive electrode is dangerous!). The voltage should be around 0~5.5kV.  

Basic Principles

DEA (Dielectric elastomer actuator) changes its size, shape and volume based on the electric field. DEA consists of a thin elastomeric film (this time we used an acrylic elastomer sheet), sandwiched between two compliant electrodes. When a strong current flows, the soft elastomer film stretches due to the electrodes pulling it from both sides.  

More Informations

Additional research (Recommended by the instructor)

Caterpillar Robot with SMA muscle wires

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The caterpillar robot is driven by two artificial muscles made of SMA (shape memory alloy). Make it together with your friends and try a caterpillar race!

Video

Submit a form.
Preparation: 1 hour (for SMA)
Process time: 30 min

Materials

  • SMA (Instructions are here)
  • Rubber sheet
  • Straw
  • Batteries (1.3V 2pieces)
  • Battery case
  • Cables / wires
  • Button switches

Tools and Equipments

  • Scissors
  • Stapler
  • Ruler
  • Breadboard

Directions

Cutting

Cut the rubber sheet in the size of 7cm x 2cm. Also cut 2cm of the straw and cut it vertically in half.

Fix

Cover the edge of the rubber sheet with the straw and staple it. This makes the edges slippery, which makes the caterpillar’s locomotion smoother. Cover the other edge of the rubber sheet with the straw and staple it in the same direction.

Make slits

Cut slits in 1/2~2/3 the width of the rubber sheet. Do this for both sides, making sure the slits don’t overlap. The rubber sheet’s stiffness can be tuned by changing the cutting depth and the slit’s pitch.

Attach the SMAs

Pass the SMA through the slits of the rubber sheet. The distance between the two slits should be 2 times longer than the length of the SMA. Repeat this for the opposite side. Refer to the illustration below.

Connect the power

Briefly connect the power source to the SMA (0.5~1sec) by pressing each of the wires from one SMA to the positive red wire and the negative black wire of the battery case. The SMA will shrink when electric current is applied. Be careful not to connect it for too long or the SMA will burn out.

Control

Connect the SMA, button switches and power on the breadboard. You can control the caterpillar robot with two button switches. Image of the circuit diagram
Circuit Diagram, Powered by Fritzing

Caterpillar race

Make the robots together with your friends, and enjoy the race!  

Other recipes

  • Instructions for making SMA : SMA

More Informations