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polyurethane foam soft robot

by:Qihao      2019-09-02
Learn how to build a soft pillow-
Just like a robot formed with polyurethane RTV! [
Difficulty: Easy to medium
Long description soft robot is an exciting new son
A wider area of robotics.
According to Wikipedia: \"The soft robot is the special subfield of robots, which deals with building robots from highly complex materials, similar to robots found in organisms.
\"The softest robot in the research lab uses molded silicone air-
System of executive agencies.
This manual will show you another way for soft robots in which hard traditional motors are covered with soft molded polyurethane foam, eliminating the need for air compressors and simplifying electronic equipment to the need for traditional hobby robots. (
Please note that this manual focuses primarily on the use of polyurethane foam as a tool, technology and method for building materials, rather than electronic and computer programming related to building robots. )
Introduction to polyurethane foam: polyurethane is a common relatively low-cost material used to make memory foam pillows, car seats, certain types of foam packaging, etc.
Usually, polyurethane stays at 2-
Part of the liquid state, when strongly mixed, a heated chemical reaction is carried out, resulting in the solid shape poured into the mold.
Polyurethane has many different curing times and material properties that can range from hard plastic, soft plastic to rubber to foam plastic.
The first step is to create a 3D-
A printing mold that polyurethane can pour.
Any standard 3D
Printer materials such as PLA, ABS, nylon will work properly.
Sample molds for this project can be found in this Github link, which is provided by creative cool collaboration with the art miracle.
Tip: It seems a daunting process to design a mold for the manufacture of polyurethane foam molds, but if you keep these notes in mind, it\'s actually simple: once we have all the 3D molds
Printing, we need some material to start the polyurethane foam casting.
First, we recommend the following parts :(
Example links are provided for convenience :)
Set up the work area: an area where you have purchased and have all the materials ready, continue to set up your work environment.
Please note that this project will become very confusing!
Wear gloves, goggles and aprons.
Cover your work area with garbage bags (s)or newspaper(s)
It protects your work area from mud and dirt.
There are paper towels on hand.
Ready 3D-
Printing molds: release a large number of molds to all 3D using paint brushes-printed molds.
Until each internal 3D-
The printed mold surface sparkles with the release of the mold.
Please note that you should work quickly due to the trend of rapid drying of mold release. (
Tip: Pour the mold release into the cup, immerse the brush in the Cup, and apply the brush.
Please note that cups and brushes are not necessary if you have a spray-able mold release.
Also note that not all mold releases are the same-
Contact your mold release manufacturer to see if it can release the polyurethane foam cleanly. )Clamp the 3D-
The printed mold is tight so that most of the viscous liquid cannot pass between the parts.
Do not clamp the parts too tightly, otherwise it may damage the 3D-printed molds.
Note that there is an opening for pouring 2-
Partially mixed liquid polyurethane foam.
Do this for all the molds you want to cast polyurethane foam. (
Note: it will be easier to use more clips.
If you run the fixture, you have to wait until the current foam pieces are cast and cured, or buy more fixtures. )Once all the 3D
A large number of mold releases are applied to the printing mold and are tightly clamped together with an opening to pour the viscous liquid into it and we can start the polyurethane casting process.
Use the mixing cup to measure the liquid Parts A and B in the scale recommended by the manufacturer and pour it into the cup.
Mix the two liquids vigorously until they are even (
Make sure to finish the mixing before the pot Life listed by the manufacturer, otherwise the foam will start to expand in the cup instead of in the mold.
Record the time with a stopwatch).
Note: most polyurethane foam is 2-in the liquid-
Mix part A and Part B.
Please read the manufacturer\'s instructions carefully before using, as not all polyurethane foam blends are the same.
In particular, look at the life of the pot, mix ratio, curing time, expansion rate, etc.
Here is a quick description of each color: Also note: various colors and other additives can be added to the mixture to change the performance of the cured foam, such as color, UV tolerance, density, softness, hardness, curing time, etc.
Once you have heavily mixed the polyurethane components A and B in the mixing cup, pour the mixture into the clamping 3D-printed mold.
Cover the top with your remaining mold if needed, although we recommend leaving a small hole somewhere on the clamping mold to drain the exhaust gas and liquid.
If the mix is correct, the foam should start expanding evenly and change from liquid to a foam-like viscous solid.
Use a stopwatch to wait for the curing time recommended by the manufacturer.
Once the curing time recommended by the manufacturer has passed, the foam should expand, no longer a paste, but a soft pillow
Foam like a sponge. (
Please note that this is a heat release reaction and the foam is expected to be a bit hot.
However, it is not hot enough to melt the plastic. )
Once the curing time recommended by the manufacturer has passed, you can now remove the cured polyurethane foam from the mold.
Note that even with a large number of mold releases, the resulting polyurethane castings are difficult to remove due to friction and the initial complexity of the mold design.
Be careful not to tear it apart when trying to remove the polyurethane foam!
We recommend using tools like paint spatula to help you remove the cast polyurethane part. (
With softer, more flexible foam and simpler mold design, it will be easier to remove the foam. )
If this is the first time you have made a polyurethane foam, your first shot may not look very beautiful.
Common defects in the first mold are inconsistent hardness, spots, incorrect volume, remaining stickiness, and almost impossible to remove cast foam.
This may be caused by various Novice errors: in order to complete the rest of the polyurethane foam robot, the remaining 3D-
Impression pieces.
To stick different parts together, we recommend using foam
Safety glue or use extra polyurethane foam as an adhesive (
Very, very good adhesion of polyurethane to polyurethane and other surfaces).
This structure is designed to inspire 3D-
How do printer enthusiasts make their expanded polyurethane foam parts using RTV molding.
If you were 3D
Printer lovers, we hope this instructions will work for you so you can start your own polyurethane foam forming adventure; )Cheers -John Choi(P. S.
Special thanks to the collaboration of the Fine Arts miracle on this project, as well as the advice and support of Frank raqier studio in this learning process. )
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