The Glaucus: A soft robot quadruped

thingiverse

This is the current Thingiverse page for the development of the Glaucus soft robot (http://www.thingiverse.com/thing:277171), originally designed by Matthew Borgatti of Super-Releaser (http://superreleaser.com). This page contains information regarding past, present, and future iterations of the Glaucus along with pictures and CAD. Glaucus 1.0 Video: http://youtu.be/RCEzuPKgK6c Glaucus 1.0 Guide: http://learn.adafruit.com/soft-quadruped-robot-glaucus Glaucus 1.0 Super-Releaser Forum Page: http://forum.superreleaser.com/viewtopic.php?f=1&t=16 Known Issues Glaucus 1.0 Smooth-sil 935 is by weight and not by volume, causing uneven castings for the bathtub tooling. Overly thick smooth-sil causes uneven clamping pressure in the mold. A vacuum chamber is necessary to prevent bubbles from forming during the casting process. Bubble displacement in limited cure time (sans retardant) is difficult without proper degassing techniques. Vibration can be used instead of vacuum for degassing, but it's not a guaranteed solution. The molds should be made out of Smooth-Sil, not Ecoflex, as Ecoflex is too soft and prone to sticking during casting. Waxes need thorough cleaning before use to ensure proper mold release. Detailed images of what a fully cleaned wax looks like are necessary for the tutorial. A go/no go gauge should be added to determine if the deformation or shrinkage of the wax is acceptable. Better instructions for truing the waxes are required to achieve accurate dimensions. The dewaxing process needs to be updated to the new hot-oil method for improved results. Detailed information on mold volumes and material weight measurements is necessary for mixing the correct amount of casting material. Body bathtub castings total 1600g, while wax bathtub castings also total 1600g. Casting must be free from large voids or bubbles to ensure proper function. The first casting can be repaired by opening up the mold after the first eco-flex casting and pouring newly mixed EcoFlex to seal any bubbles. Eco-Flex often cures before displacing all bubbles, resulting in a lower-quality cast. More precise timing is necessary for achieving optimal curing results. Working in a cold place increases cure times, while using a cure retardant can help slow down the process. Molds are filling slowly due to high viscosity, which can be reduced by adding up to 10% silicone oil or thinner by weight. Air ducts between legs in both sides of molds can be added without affecting the cast's functionality. A detailed description of how to control the robot's movement and make it walk is missing from the existing instructions. Glaucus needs thicker walls all over for improved structural integrity. Tips on cutting the back end smoothly to achieve a good seal with the 3D printed part are necessary. The total cost of materials is high, making it difficult for users to replicate the project. A heat sensor should be added to maintain consistent mold temperature. A justification for some design decisions and the choice of specific parts would be beneficial for users. A description of the luer fittings in addition to the provided link would improve the tutorial's clarity.