Yesterday i found a local source of expandable sleeving... today, a new breed of 'Lego' air muscle :)
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|Expandable sleeving! 3 different sizes, from top to bottom, 15mm, 10mm & 5mm flat width.||Aluminium tubes and rod... as moulds, to be dipped in latex.||3 sizes of latex tube, from top to bottom (internal diameter) 10mm, 8mm and 4 mm.|
|Constructing an air muscle.||Relaxed air muscle.||Charged air muscle.|
|Relaxed supporting 1kg.||Charged, lifting 1kg!|
There you have it folks... a neat Lego compatable air muscle, weighing just 2.73 grammes and capable of lifting 1kg over 17mm. I didn't test with more than 1 kg as the muscle came apart with more weight... easily repaired tho :)
The air muscle above will be just about right for J5's arms.
I've also been researching electronic air actuators, they all seem to be a mechanical switch with a solenoid that moves the switch. Micro actuators that would be suitable for J5 cost about £70 each! J5 would need 1 actuator for each of his 28 muscles... 28 x £70 is out of reach for me!
I think i may have a solution to making cheap electronic actuators, invloving magnets, coils and more latex... a pair of actuators, one for each opposing muscle can be run from 1 RCX motor port, 1 actuator runs off the forward current and the other runs of the reverse current.
A little about the RCX motor ports...
There must be a way of using the pulse timings to control more than 2 actuators from one motor port.
A friend suggested a way of getting J5 to talk...
I found a good cheap source of NdFeB (Neodymium) magnets...
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This page is part of a diary of the design and build of my Lego Mindstorms robot J5 (based on Johnny Five from the film short Circuit.)
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