Curved and Straight Soft Robot Arm Molds

prusaprinters

This connects to a 1 ½" barbed PVC input as shown in the picture. Our research group has put fabric, other silicone types (like putting a 10 Shore A strip in a 30 Shore A arm), and even sensors into these arms. We use Dragon Skin 10 or 30.The sensor holders are for putting Polhemus Motion tracking probes into and they attach to the robot body with Sil-Poxy. You drive nails of the appropriate diameter into the 8 holes to create the cavity for the Polhemus sensor.The different strip molds all make additions that can be put into the curved arm mold. I suggest putting any fabric incorporations into these first and filling them (I did not do this for the attached picture, but have for more recent pours). You can then take the fabric addition (or differing silicone type addition) and adhere it to the wall or core of the curved arm mold since the additions tend to float away.I recommend vacuum degassing the silicone prior to pouring. Feel free to contact me if you have questions. Btw, the robot's name is Squishy if you were wondering about the naming convention, lol.