Bionic Elephant Elephant’s trunk with an adaptive Fin Ray ... · 6 Festo AG & Co. KG | Festo Didactic SE Bionics4Education Intermediate status Required items: 3 servo motors, 3

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Bionic Elephant

Elephant’s trunk with an adaptive Fin Ray Effect®gripper

2 Festo AG & Co. KG | Festo Didactic SE Bionics4Education

Equipment

Additionally required:

Required items from the Bionics Kit:


Instructions

Required items: material for plates, plate template for distance plates, scissors, material for flexible distance keepers Print out the template for the distance holders (located in the Downloads section) and draw six or more distance holders on the plate material of your choice (e.g. polystyrene, Forex, plywood, aluminium sheet ect.). Cut out the plates with scissors and cut out the four holes marked on the template.

Also provide material for the flexible distance keepers (e.g. foam material, compression spring etc.) which are threaded between the distance plates. Therefore, the distance keepers need a hole in the middle.

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Required items: adapter for gripper, 3 cable ties

Pass three long cable ties through the outer holes of the adapter until the cable tie heads rest on top of the adapter.

Required items: 2 distance plates, 3 distance keepers

Start by threading a distance plate. Then thread one distance keeper onto each cable tie and then another distance plate is threaded on.

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Required items: tube (blue)

Push the blue tube through the hole in the middle of the distance plates and into the middle hole of the adapter.

Required items: distance plates, distance keepers

Continue to thread the distance plates and distance keepers alternately until the material is used up or the length of the cable ties is no longer sufficient. Finally, thread on a distance plate. The trunk should consist of about 6 layers.

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Intermediate status

Required items: 3 servo motors, 3 cable ties, 3-armed holder

Insert the three servo motors of the same size (not waterproof) into each slot of the 3-armed holder and fasten them with a cable tie. Mount the servo motors on the side of the larger opening in such a way that the rudder horns point inwards.

Shorten the cable ties with scissors, if necessary.

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Required items: 3 connector cables of servo motors

Pass the servo motors‘ connector cables through the hole at the base of the three arms.

Required items: scissors Cut off the blue tube a few centimetres after the last threaded distance plate.

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Required items: 3-armed holder Thread the 3-armed holder onto the last distance plate at the end of the trunk by passing the blue tube through the hole in the middle of the holder. The smaller opening points in the direction of the trunk and the servo motors in the other direction.

Required items: none Guide the three cable ties from the trunk through one side of each rowing horn above.

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Required items: none Fix each of the three cable ties guided through the rudder horns to the rudder horn with an additional cable tie.

Shorten the cable ties with scissors if necessary. Intermediate status

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Required items: 2 tail fins (small), 1 cable tie Insert the two small tail fins into the two holders of the adapter.

Then attach the two small tail fins to the gripper adapter with a cable tie. First guide the cable tie from below through the one hole on the side of the small tail fin. Then pass the cable tie from above through the side hole of the other small tail fin and through the cable tie head. Then guide the cable tie through the middle hole of the gripper adapter.

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Required items: 2 sealing rings, connecting element Put the two sealing rings on each end of the connecting element.

Required items: servo motor (waterproof), 1 cable tie

Attach the waterproof servo motor on the holder inside the connecting element and fasten it with a cable tie. Shorten the cable tie with scissors if necessary.

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Required items: connecting element, 3-armed holder Attach the connecting element to the 3-armed holder. Make sure that all cables are inside and are not jammed.

Pass the inner cable tie through one side of the rudder horn of the waterproof servo motor and fix it from the other side with another cable tie. Shorten the cable tie with scissors if necessary.

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Required items: Pin shield for microcontroller, Electronic board If the pin shield for microcontroller has not yet been plugged onto the electronic board, carefully plug the two components in. Make sure that the USB slot of the pin shield is located above the USB symbol of the electronic board.

Required items: Electronic board with pin shield Plug the connector cables of all four servo motors into the Electronic board.

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Intermediate status

Required items: battery compartment, 4 batteries

Insert four batteries in the battery compartment.

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Required items: connecting cable for battery Plug the white plug of the battery connection cable onto the Electronic board.

Required items: connecting cable for battery, battery compartment Put the black plug of the battery connection cable on the battery compartment.

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Testing Switch on the Electronic board using the small black switch. When the little red light on the Pin shield is on, everything has been plugged together correctly.

Required items: Electrinic board, transparent corpus Insert the assembled Electronic board with pin shield into the body and slide it into the rail provided for this purpose.

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Required items: transparent corpus, battery compartment Insert the battery compartment underneath the electronic board into the transparent body. Make sure that the batteries are facing downwards and the plastic of the battery compartment bottom points upwards in the direction of the Electronic board. Check whether the electronic board is still switched on.

Required items: transparent corpus, connecting element Attach the connecting element to the transparent corpus.

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Your Bionic Elephant is ready!

Bionic Elephant Elephant’s trunk with an adaptive Fin Ray ... · 6 Festo AG & Co. KG | Festo Didactic SE Bionics4Education Intermediate status Required items: 3 servo motors, 3

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