How to Make a Robotic Worm

As a maker, I often find myself turning to nature for inspiration for new projects. One day I found an earthworm while digging though the garden. I usually wouldn't think twice about this but on this day I was quiet captivated by the way it moved. The more I thought about and researched the motion I found it wouldn't be too hard to replicate, so I built a robotic earth worm.

Peristaltic Motion:

Peristaltic motion uses peristalsis, a sequential series of contractions, in order to induce movement. Examples in nature include the intestinal system and earth worms. In industry this principle is used in peristaltic pumps in order to move precise amounts of a fluid. Peristaltic robots are relatively novel but can be built using a variety of control methods. I have chosen pneumatic control as it lends itself to a truly "soft" robot that is compliant and rugged in addition to being waterproof when built as described.

Supplies:

NOTE: A Detailed BOM with source links can be found on the project GitHub

Knowledge:

1. How to Solder(Optional you can breadboard it instead if you would like): Instructable

2. A good understanding of your printer

3. How to construct a circuit from a schematic: Breadboarding Instructable

4. How to use an Arduino Arduino Class

Tools:

1. 3D Printer(Must be able to print NinjaFlex)

2. Jumper Wire

3. Dental Pick

4. Soldering Iron & Solder(Optional)

5. Wire Cutters and Strippers

6. Breadboard

7. Tubing Cutter (I used this one)

Hardware & Materials:

1. NinjaFlex Filament(~25g)

2. PVA Filament( ~50g)

3. 2mm ID x 4mm OD Silicone Tubing(5 ft)

4. 4mm ID x 6mm OD Silicone Tubing(1 ft)

5. Tape(anything that does not leave residue)

6. Small Zip Ties X 6 (Width less than 2mm works best)

7. Loctite Vinyl, Fabric & Plastic Flexible Adhesive(~2 ounce)[Amazon Link]

Electronics:

1. Arduino Uno R3

2. 12V Parker/Hargraves Mini Diaphragm Pump (Ubiquitous on the secondary market look for deals. Similar pumps can be used in place.) [Ebay Link]

3. 6V 2-Position 3-Way Mini Solenoid Valves X 6 (Also common on secondary market, usually marketed for use in eye massagers.)[Ebay Link]

4. 12 V 2A Power Supply

5. LM2596 adjustable buck converter module(these are everywhere just search amazon and pick one)

6. 1k Ohm Resistors X 7

7. BC337 NPN Transistor X6 (or equivalent)

8. TIP120 Transistor X1 (or equivalent)

9. 1N4001 Diodes X 7 (1N4001-1N4007 will work fine)

10. Optional: XH Connectors

from Hacker News https://ift.tt/3i3W4KK