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The Glaucus: A soft robot quadruped

by Super_Releaser, published

The Glaucus: A soft robot quadruped by Super_Releaser Aug 16, 2016

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Thing Statistics

455Views 472Downloads Found in Robotics

Summary

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

  • Overly thick smooth-sil causes uneven castings for the bathtub tooling, making even clamping pressure difficult
    Vacuum chamber is necessary
  • Bubble displacement in limited cure time (sans retardant) is difficult
  • Vibration is an option instead of vacuum for degassing
    The molds should be made out of Smooth-Sil, not Ecoflex
  • The Ecoflex is too soft for casting in, and the Ecoflex can stick to itself during casting
    Waxes need to be thoroughly cleaned
  • There should be detailed images of what a fully cleaned wax looks like on the tutorial
  • Add go/no go gauge for the wax, to determine if the deformation of the wax or shrinkage of the wax is not appropriate to continue building
  • Better instructions for truing the waxes
  • Need to update dewaxing process to a new hot-oil method
    Detailed information on volumes of molds is necessary for mixing
  • Include volumes or material weight measurements in tutorial
  • Body bathtub castings total 1600g
  • Wax bathtub castings total 1600g
    Casting must be free from large voids or bubbles
  • The first casting can be repaired by opening up the mold after the first eco-flex casting, using nail scissors to open up any bubbles that are near the surface, and pouring newly mixed EcoFlex to seal them. After this layer has gelled the mold can be assembled with the final half of the glaucus and re-poured.
    Eco-Flex is curing before displacing all bubbles
  • Need timing to be more precisely outlined
  • Working in a cold place will increase cure times
  • Cure retardant can also help
    Molds are filling slowly
  • Silicone oil or silicone thinner can be added in up to 10% by weight to reduce viscosity
  • Also, can add up to ¼” air ducts between legs in both sides of molds; okay if they fill with Ecoflex
    No description of how to control it to make it walk is in the existing instruction
    Glaucus needs thicker walls all over
    Need tips for how to cut the back end more smoothly to have a good seal to the 3D printed part
    Total cost of materials is high
    Add the tool of the heat sensor so mold temperature is consistent
    Need to write a justification for some decision making or underscore why these parts are chosen as appropriate
    Need description of the luer fittings in addition to the link

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Is it possible to make a smaller one that still moves as efficiently? My printer has a max build plate of 120 mm so all the parts have been shrunk down to 58.97%. I'm not sure if the size will cause a problem with the flexibility.

Hey. Thank you for posting this.

What specific version of Ecoflex and Smooth-Sil did you use, and what were their shore hardness?

Hi, our pleasure.
We used Smooth-Sil 935 and Ecoflex 00-30, with hardnesses 35A and 00-30, respectively.

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