soft-robotics:molds:gripper []

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====== 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|}}

===== Fabrication =====
The fabrication process is described in detail on the [[http://www.instructables.com/id/Air-Powered-Soft-Robotic-Gripper/|Instructables page]].

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 =====
The molds are available for download on [[http://www.thingiverse.com/thing:66883|Thingiverse]]. Additionally, a base bold that supposedly has more gripping power was published on [[http://www.thingiverse.com/thing:630709|Thingiverse]] by XYZAidan.

===== Quantities =====

     * **Mini Gripper - Top Layer:**  ~10g 
     * **Gripper - Top Layer:**  ~40g
     * **Baser Molds:**  ~8g

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

  * Top Layer - [[soft-robotics:silicones:ecoflex30|Ecoflex 30]]: ~15min
  * Bottom Layer - [[soft-robotics:silicones:dragonskin30|Dragon Skin 30]]: ~30min

===== Air inlet =====
From the instructables guide:
<code>
Puncture the robot from the side, at a 45 degree angle in between two of the "legs".
Aim for the circular central chamber that connects the four air channels. 
</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.
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