====== Trefoil Tentacle ======

The trefoil tentacle is a multiple DOF actuator designed by [[https://har.ms/|Matthew Borgatti]]. It is made using 3 linear shells that are bolted together into one single mold.

{{:soft-robotics:trefoil_tentacle.jpg?nolink&400|}}

===== Fabrication =====
The fabrication process is described on the [[http://www.thingiverse.com/thing:92103|Thingiverse]] page. Further details are described in [[https://har.ms/blog/soft-robots|Matthew's blog]].

===== Mold files =====
The mold files can be downloaded from [[http://www.thingiverse.com/thing:92103|Thingiverse]].


===== Machine Limitations =====
According to the thingiverse page, the supplied molds can only be printed using Power,Object and DLP printers.

===== Quantities =====

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===== Oven times =====

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===== Air inlet =====
The air is fed to the tentacle from 3 separate tubes. A special housing for the actuator and control board was laser cut. 
{{:soft-robotics:trefoil_tentacle_inlet.jpg?nolink&400|}}

More images are found on the [[https://secure.flickr.com/photos/gianteye/sets/72157632460625971/with/8462374852/|Flickr page]].