#robotics Logs

Dec 16 2018

03:10 AM rue_mohr: so we got a hasel actuator proofed
03:25 AM rue_mohr: I'll throw up a youtube video later
05:40 AM weyland|yutani: rue_mohr, i am reading the peano hasel actuator paper right now
05:40 AM weyland|yutani: rue_mohr, very nice low tech approach
01:23 PM rue_mohr: I made one last night
01:23 PM rue_mohr: didn't get the quantitiy of oil right, but it principally worked
01:24 PM rue_mohr: weyland|yutani, did they say how they were creating the conductive regions on the polymer?
01:26 PM weyland|yutani: rue_mohr, Last, we use ionically conductive hydrogel electrodes
01:26 PM weyland|yutani: (
01:26 PM weyland|yutani: 36
01:26 PM weyland|yutani: ) to provide a voltage across our actuators. These are laser cut
01:26 PM weyland|yutani: from a polyacrylamide hydrogel swollen with an aqueous LiCl solu
01:26 PM weyland|yutani: -
01:26 PM weyland|yutani: tion (
01:26 PM weyland|yutani: 37
01:26 PM weyland|yutani: ) and bonded to a thin polydimethylsiloxane (PDMS) sub-
01:26 PM weyland|yutani: strate (
01:26 PM weyland|yutani: 38
01:26 PM weyland|yutani: ) for mechanical support
01:27 PM rue_mohr: huh
01:27 PM weyland|yutani: To demonstrate ease of manufacturing
01:27 PM weyland|yutani: and compatibility with industrial production methods, we also fab-
01:27 PM weyland|yutani: ricated devices with aluminum electrodes integrated on the BOPP
01:27 PM weyland|yutani: surface using a commercial vacuum-deposition process
01:27 PM rue_mohr: those are prolly the ones in the youtube videos
01:28 PM weyland|yutani: conductive hydrogel or vacuum deposition
01:28 PM weyland|yutani: rue_mohr, what voltage did you use?
01:29 PM rue_mohr: I suppose with the vacuum deposition, you mask it
01:29 PM rue_mohr: "80kv"
01:29 PM rue_mohr: but its a china supply so I suspect about 15kv
01:29 PM weyland|yutani: in the paper they use 8kv
01:29 PM rue_mohr: yup
01:29 PM weyland|yutani: they also leave the skirt after heatsealing it to supress arcing
01:30 PM rue_mohr: 0.5 - 20 is what I'v seen
01:30 PM weyland|yutani: oke
01:30 PM weyland|yutani: i am not done reading it
01:30 PM rue_mohr: I invited one of the university folks to the channel
01:30 PM rue_mohr: :/
01:30 PM weyland|yutani: they also use a special dielectric fluid encirotemp fr3
01:31 PM weyland|yutani: envirotemp fr3
01:31 PM rue_mohr: the dielectric I was using had a constant of about 3
01:31 PM rue_mohr: theirs is prolly higher, which gives them more force
01:32 PM weyland|yutani: castor oil is also good but flammable
01:32 PM rue_mohr: till yesterday, I'd never thought about the mechanical forces on a capacitor
01:32 PM rue_mohr: :)
01:33 PM weyland|yutani: electric field between parallel plates is a starter :)
01:33 PM weyland|yutani: but yea i never thought about using fluids in a pouch
01:37 PM rue_mohr: this could be some fun for a while given all the microstructures were not capable of
01:38 PM rue_mohr: hmm
01:38 PM rue_mohr: vacuum depsition machine eh?
02:09 PM s3nd1v0g1us is now known as patr0clus
02:11 PM patr0clus is now known as s3nd1v0g1us
02:45 PM ldlework: Video I made of last-night's Robo Duels, https://www.youtube.com/watch?v=TyQVox70piU
02:45 PM ldlework: If you want to play let me know.
02:46 PM rue_mohr: OOoo
03:45 PM bobertc: you've seen this right? https://www.youtube.com/watch?v=4qHe5K3KktY
03:45 PM bobertc: the high speed japanese ones
03:46 PM rue_mohr: crazy
03:47 PM rue_mohr: smoke! ahahaha
04:05 PM ldlework: bobertc: those are AI driven?
04:21 PM bobertc: ldlework: just a video i saw, don't know the details... from watching it looks like a combo, they have controllers but some are obvious on autopilot most or all of the time
04:21 PM ldlework: darned neat either way
04:22 PM ldlework: you can play Robo Duels on tuesday for free though!
04:22 PM ldlework: from the comfort of your home :)
10:48 PM rue_mohr: http://ruemohr.org/~ircjunk/projects/reprap4/p1100844.jpg
11:17 PM armyofevilrobots: @rue_shop3 -> https://arxiv.org/pdf/1806.07366.pdf thought it would be relevant to your interests.
11:43 PM rue_mohr: armyofevilrobots, !
11:43 PM rue_mohr: 1 sec...
11:43 PM rue_mohr: https://www.youtube.com/watch?v=c5fCZWY1ljU