Materials and CAD Files
Structural Components
Electronics and Motors
Hardware
Custom Part Files
Tube Materials
Assembly Guides
Custom Part Manufacturing Guide
Full System Assembly
Cart Assembly
Tube Fabrication
Electronics Setup
Electronics Board Setup
Firmware Installation
Wire Management
Full System Test
Kinematics
Calculating Kinematics of a CTR
Implementing Kinematics
Troubleshooting Kinematics
Experiments
Installing Tubes
Homing the Robot
Graph Paper In-Plane Bending Experiment
Out-of-Plane Rotation Experiment
In the following procedure, we will shape-set Nylon12 medical tubing into pre-curved tubes that we can use in a CTR. You will need the materials listed in the Heat-Set section of the Tube Materials page. You will also need a toaster oven or similar device.
The pieces listed in the Tube Materials page will allow you to create one set of three tube CTRs. The image below shows two full sets of tubes; one set has larger curvatures than the other.

Tools and Equipment
You will access to the following tools and equipment to shape-set your tubes:
- Toaster Oven
- Small water-tight bin
- Razor or exacto blade
- Fast-setting liquid glue
Instructions
- Assemble a tube mold for the desired tube shape. Each tube mold should have one straight section, at least one curved section, and two end sections. The image below shows the pieces needed to create a mold for a 3.3mm tube that will have a 45mm straight section, and a 30mm curved section with a 100mm radius.

- Insert the Nylon tube into the mold. Ensure the tube is flush with the distal end of the tube. Cut the Nylon tube. There can be a gap between the proximal end of the tube mold and the mold. Mark the location of each of the connection points in the mold. This will help later.

- Preheat the toaster to $425^\circ F$ for 2 minutes.
- Preheat the tube. Remove the tube from the mold, and hold it inside of the toaster over for 10 seconds.
<aside>
⚠️ Do not allow the tube to contact any metal inside the oven.
</aside>

- Press the tube back into the mold. Make sure the lines you marked previously are visible and in the correct locations.
- Put the entire tube mold in the oven for 45-55 seconds.

- Quench the tube mold in a cool water bath for 90-120 seconds.
- Remove the tube from the mold, and trim the excess material on both ends.
<aside>
📎 Use a sharp razor blade or similar to trim, and cut in a circular motion. Using something like scissors or snips can cause the tube to collapse and crease.
</aside>

- Add a tube cube lock to the end of the straight section. Use superglue, or similar, to attach the printed tube cube lock to the tube. The tube should go through the entire cube and be just flush with the end of the cube.
<aside>
⚠️ Use only a small amount of glue. If glue gets inside the tube, this will cause the tube to have a narrower ID, and it will make it difficult to insert inner tubes.
</aside>

You now have a heat-set nylon tube! Repeat this procedure with many different tube molds to produce a full set of pre-curved tubes.
<aside>
📎 It is helpful to label your tubes so that later you can identify the parameters of each tube.
</aside>