soft-robotics:molds:gripper
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soft-robotics:molds:gripper [2017/04/24 08:46] avnerus created |
soft-robotics:molds:gripper [2017/04/26 06:32] (current) avnerus |
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| ====== Gripper ====== | ====== Gripper ====== | ||
| - | The Gripper is a Pneunet design that is based on the [[soft-robotics:fast-pneunet|Fast Pneunet]] architecture. It is designed by Ben Finio. It has 2 variations - Gripper and Mini Gripper. | + | The Gripper is a Pneunet design that is based on the [[soft-robotics:slow-pneunet|Slow Pneunet]] architecture. It is designed by Ben Finio. It has 2 variations - Gripper and Mini Gripper. |
| {{:soft-robotics:molds:gripper.jpg?nolink&600|}} | {{:soft-robotics:molds:gripper.jpg?nolink&600|}} | ||
| ===== Fabrication ===== | ===== Fabrication ===== | ||
| - | The fabrication process is described in detail on the [[http://softroboticstoolkit.com/book/pneunets-fabrication|Instructables page]]. | + | The fabrication process is described in detail on the [[http://www.instructables.com/id/Air-Powered-Soft-Robotic-Gripper/|Instructables page]]. |
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| + | Take note of Stage 11, where extra sealing is necessary on the top layer after gluing. | ||
| + | |||
| + | {{:soft-robotics:molds:gripper_sealing.jpg?nolink&400|}} | ||
| ===== Mold files ===== | ===== Mold files ===== | ||
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| ===== Quantities ===== | ===== Quantities ===== | ||
| - | === Basic shape === | + | * **Mini Gripper - Top Layer:** ~10g |
| - | * Top layer: ~35g | + | * **Gripper - Top Layer:** ~40g |
| - | * Base Layer: ~5g | + | * **Baser Molds:** ~8g |
| ===== Oven times ===== | ===== Oven times ===== | ||
| - | === Basic shape === | + | * Top Layer - [[soft-robotics:silicones:ecoflex30|Ecoflex 30]]: ~15min |
| - | * [[soft-robotics:silicones:dragonskin30|Dragon Skin 30]]: ~35min | + | * Bottom Layer - [[soft-robotics:silicones:dragonskin30|Dragon Skin 30]]: ~30min |
| - | * [[soft-robotics:silicones:ecoflex30|Ecoflex 30]]: ~15min | + | |
| ===== Air inlet ===== | ===== Air inlet ===== | ||
| - | From the toolkit website: | + | From the instructables guide: |
| <code> | <code> | ||
| - | Using a thin metal rod, pierce the end of the actuator, an equal distance from both sides | + | Puncture the robot from the side, at a 45 degree angle in between two of the "legs". |
| - | and about 1/8” (3mm) from the bottom. Aim the rod slightly downwards and don’t push it in too far. | + | Aim for the circular central chamber that connects the four air channels. |
| - | The goal is to reach the central channel without puncturing any of the actuator’s walls. | + | |
| </code> | </code> | ||
| + | {{:soft-robotics:molds:gripper_inlet.jpg?nolink&300|}} | ||
| + | {{ :soft-robotics:molds:15.png?nolink&400|}} | ||
| + | |||
| + | ===== Issues ===== | ||
| + | We found that even after applying reinforcement on top of the gripper, it is quite fragile and can tear or pop easily after curing. We recommend to only pump a small amount with the syringe to make sure there are no holes and then let it cure for at least half a day. | ||
| - | {{:soft-robotics:molds:14.png?nolink&400 |}} | ||
| - | {{:soft-robotics:molds:fba_inlet.png?nolink&400 |}} | ||
soft-robotics/molds/gripper.1493023562.txt.gz · Last modified: 2017/04/24 08:46 by avnerus
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