Slimy

Slimey is a mobile, 4d printing robot. The goal of this robot is to elevate the advancements of 4d printing with a mobile robotics platform in order to expand upon the possibilities in computational design and digital fabrication. Projects that use similar 4d printing techniques are currently limited to the size of the printer and the build plate/ area which is predetermined. With Slimy, was constructed as a small demonstrator for this system, the possibility in scales are limitless.

This project was completed as an assignment for a class, Computation Design and Digital fabrication as part of the curriculum in the ITECH master thesis program at the University of Stuttgart.

Authors: Kevin Saslawsky, Ailey Simpson, Peter Ehvert

(1) Arduino Uno

(1) CNC Extension Shield Board

(3) Motor Driver (a4988)

(2) Stepper Motor (28BYJ-48)

(1) 4.1v 1.8deg Nema17 Stepper Motor (17HS4023)

(1) Hot Glue Gun and Glue Stick

(2) IR Sensor Modules (TCRT5000)

(1) 12v Power Supply

(1) Female/Male DC Barrel Jack to Screw Terminal Adapter

(1) Castor Wheel

(2) Motor Wheels

(1) 30x30cm Strechable Fabric (Nylon, Lycra, Polyester)

(10) Binder Clips

(many) Jumper Cables and Dupont Wires

(several) M3 Bolts and nuts

(a couple of) bolts, washers, wing nuts, locking nut

Check exploded axon and render for assembly.

This Code is not correct for now. It is currently working with a different motor shield using L293d motor driver chips using AFMotor Library. New code concerning the updated CNC shield with A4988 Chips will be uploaded shortly.

Stretch out the fabric onto a larger, rigid base and use the binder clips to hold down the edges. Draw one continuous line with a contrasting color onto the fabric.

Place Slimy in the direction of the line so that it will find it. Once it finds the line, it will begin to extrude the glue onto the surface. Once Slimy has completed the path, turn it off and cut out the finished piece from the base with scissors.

After the piece is cut out, maneuver into the final shape you intend for it to be. Since the material is quite elastic, it may have several interesting forms to exhibit so try them out!