Caterpillar5

This is the body for the print-and-dip bistable actuator here http://harnettlab.org/2014/03/05/inflatable-actuator-with-two-stable-states/ Fill it with 4 teflon rods (diameter 1/4", McMaster part 8546K11) to define the air chambers. Tap the end holes with a 1/8"-27 NPTF tap (McMaster part 2553A12). Install hose-barb to 1/8" pipe fittings (McMaster part 5463K4) & close off with silicone tubing loop. These fittings keep the teflon rods in place. Dip in Dragon-Skin and/or Eco-Flex silicone from Smooth-On. Remove hose-barb so you can pull out the teflon. Reinstall hose-barb & reseal the edges with silicone. Bolt it together with the pair of tension bars from Shapeways, using 1.5 inch long 2-56 screws (McMaster 91772A267). Plug in 1/16" ID silicone tubing (McMaster 3038K11). We drove it using syringes attached to the tubing using Luer-to-hose-barb connectors (McMaster 51525K211)