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Working in collaboration with Neubo Inc., the project aims to introduce the field of soft robotics to children aged 7-12 through Neublox, a platform enabling kids to construct fluidic circuits to control their own soft robots. The main objectives entail designing and manufacturing pneumatic circuit blocks that are cost-effective, easily producible, consistent, safe, pliable, and on par with their electronic counterparts. The project's core focus lies in constructing circuits to regulate soft robot movements through soft action blocks, interconnected by structural blocks. Additionally, educational content will be developed, elucidating the functionalities of each component and providing assembly instructions to enhance learning experiences.
Circuit
Circuit
Our final design deliverable is to be a kit with several different kinds of components. Our kit will contain circuit components, interactive input & output components, and connection pieces to join together the system. The most significant parts of this kit will be the circuit components as that is what we would like the users to learn more about along with the soft robotic outputs.
The final design will consist of logic gates, resistors, and connectors that will power 3 actuators with different resistances to provide the children with variety for soft robotic action.
Fig 3 : OR Gate Circuit Diagram
Fig 2 : Deliverables Kit Components
Fig 4 : OR Gate Circuit Diagram using Project Kit's Components
Fig 5 : Pneumatic NOT Gate Exploded View
Logic Gate Blocks
Logic Gate Blocks
Serving as the cornerstone of this project, the NOT gate enables the creation of various logic gates, including NAND, NOR, AND, and XOR gates, each endowed with unique functionalities. Through strategic circuit configurations, these gates can be interconnected with resistors and actuators, culminating in the creation of a captivating pneumatic toy aimed at educating children.
The NOT Logic Gates were crafted using SolidWorks and assembled with a combination of acrylic layers and silicon sheets acting as gaskets.
Acrylic lamination emerged as the optimal manufacturing method for this project due to its accessibility and cost-effectiveness. Its versatility allowed for rapid prototyping and offered abundant design opportunities. Moreover, acrylic's transparent appearance enables children to observe the inner workings and operations of the logic gate clearly.
To enhance functionality, gaskets were incorporated to prevent leakage between layers and serve as membranes for opening and closing air channels, ensuring efficient operation.
Resistor Blocks
Resistor Blocks
The resistor regulates airflow through channels by creating resistance, enabling precise control over pneumatic systems' speed, pressure, and force. By harnessing the principles of resistance, the resistor expands the repertoire of logic gate functions achievable using NOT gates, enabling the creation of AND and OR gates, among others.
The design of the resistor drew inspiration from the logic gate, employing acrylic and gasket layers. Laser cutting was utilized to create elongated and winding channels, precisely calibrated to regulate airflow speed and pressure.
Beyond its functional role, the resistor serves as an additional educational component, offering children insights into the principles of resistance and its significance in circuitry.
Fig 6 : Various Resistor Channel Design
Fig 7 : Pneumatic Resistor Block Exploded View
Actuator Blocks
Actuator Blocks
Pneumatic Crane Arms
Pneumatic Crane Arms
The arm actuator offers an engaging hands-on experience for children as they design and assemble their soft robots, fostering curiosity and problem-solving skills as they explore how to control the robot's movements through pneumatic circuits they construct themselves.
The design of the gripper was based on Delta X Robot , an open-source SolidWorks CAD file available online. This gripper uses 3D printing for the mold and mount, and laser cutting for the base plate. A mold was created for the upper gripper where we poured silicone and let it cure. After curing, we added the strain limiting layer for the lower part of the gripper and bonded them with silicone. Three grippers were made in a week, and they functioned as expected.
Fig 8: Pneumatic Crane Arm
Fig 9 : Pneumatic Gripper
Fig 10 : Pneumatic Griper CAD
Pneumatic Gripper
Pneumatic Gripper
The pneumatic excavator provides an exciting real-world example of pneumatic systems in action, captivating children's interest by demonstrating how these systems are used in construction and engineering. By incorporating fun elements into the educational program, children are not only introduced to soft robotics and pneumatic systems but also encouraged to actively participate in the learning process through experimentation and discovery.
Fig 11 : Button Exploded View
On-Off Button Blocks
On-Off Button Blocks
A switch is essential for allowing the actuation and closure of the actuator, enabling precise control over the airflow within the system. The functional requirements of the component include an on-off switch that works by closing or opening a channel to allow air to flow through, integrating easily with other circuit components, and performing its functionality at 10-12 psi. In our design consideration, we created an on-off button based on an online design. The team experimented with multiple lengths of inner tubing from the button to see if it would effectively block the airflow channel. We then combined the button with acrylic layers using nuts, screws, and a gasket to control the airflow when the button is pressed. Additionally, we tested different silicone harnesses, such as Ecoflex and Dragon Skin, to determine which was more interactive.
Our final design consists of a button made from silicone molding and acrylic layers forming a channel for air to pass through. The acrylic layers and buttons are glued with adhesive tape suitable for each material. When the button is pressed, the airflow is blocked, and no air passes through. Integrating this button with a NOT logic gate's control channel achieves the opposite functionality. To ensure compatibility with other circuit components, barb adapters were inserted to connect the button with connector blocks. The manufacturing methods include acrylic lamination and silicone molding, ensuring a robust and efficient design.
Fig 12 : Push to Break Button Block
Fig 13 : Button Silicon Mold
Fig 14 : Push to Break Button Block with Soft Outer Coat
Connection Blocks
Connection Blocks
Connectors are used to connect logic gates and other circuit components together. An effective connector is airtight and has a good seal. Since Neublox is a toy, the connectors should also be easy to connect together
The connectors used a simpler design that takes advantage of Silicone’s flexibility and sealing properties. This design creates a female connector that mates with barb adapters that can be easily purchased in McMaster. It is expected to have a significantly better seal. However, from experience of using barb adapters, it is predicted to be more difficult to remove and manufacture since it requires silicone molding.
The submersion test highlighted that the connectors have significantly less leaks. From a connectivity standpoint, the connector does not feel as tight as the barb adapters which is a great achievement. Though it does not feel as tactile as the other connectors, the silicone female connector has the best seal.
Fig 15 : Connector
Fig 16: Various Connector CAD Design
Fig 17: Membrane deflection figures for a NOT Gate from Ansys. Left is a closed gate with Control input, hence no output (1). Right is an open gate with no control input, hence there is output (2)
Computational Robustness of NOT Gate
Computational Robustness of NOT Gate
P_control >= P_source -> gate will close, trivial
P_control < P_source & not P_control << P_source -> gate can still be closed by matching the minimum bubble or wrinkling radius on the output side.
NOT Gate Operation Pressure
Minimum source pressure to cross target channel; Control =0 psi.
Source (Input) ~= 2.5 psi
Breakthrough source pressure to cross target channel; Control =10 psi.
Source (Input) ~= 12.5 psi
Minimum control pressure to close target channel; Source =10psi.
Control = 10 psi
Statement of Requirements
Statement of Requirements
High Priority:
Design and fabricate pneumatic circuit blocks.
Needs to be cheap, manufacturable, consistent, safe, soft, and comparable to electronic equivalents.
Build Circuit to Control a Soft Robot
Design pneumatic circuit to control the motion of a soft robot created using the soft action blocks and connected using the structure blocks.
To evaluate the performance of this pneumatic circuit, use an electronic control breadboard to program the robot to move similarly and compare performance.
Compare the pros/cons of controlling robotic systems with pneumatic circuits as compared to electronic circuits.
Second Priority:
Develop Educational Content
Develop educational material describing how each component works and how to assemble them.
WOW Solution:
Use an electronic control board to program the robot to move similarly to the fluidic circuit
Enhance the design to accommodate nonelectric sensor integration
Optimize the design for manufacturability
Deliverables
Deliverables
Manufacture pneumatic interchangeable circuit blocks
NOT gate
Combining multiple NOT gates can form different logic gates such as AND, OR, XOR
Resistor/Capacitor
On/Off Switch
Intuitive connectors
Circuit Diagram
5 interchangeable circuit block components that actuate a soft robot
Educational content
Come up with explanations specifically for 7-12 years old for different logic gates
Educated them with a diagram and/or working product
Teach them how to assemble a pneumatic circuit with interchangeable circuit blocks
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