The multi-module manipulator is composed of three modules in-series connected. This section presents the details for the fabrication of the single modules.
Fabrication of Module 3
1.2. Place the cup in a degasser machine at 1 bar vacuum pressure for about 10 min. When the air bubbles are completely removed, the silicone is ready to be used.
2.1 Assemble the mold (a), close the shells around it and pour the silicone up to the edge of the shells (b).
2.3 Remove shells and cap_A (c), reverse the module and insert cap_B (d), close the shells so that their edges are aligned with the stiffening cylinder (e). Pour the silicone inside the rearranged mold up to the edge of the shells (f).
After these steps, you have a module (Module 3 of the manipulator) able to move when the air is supplied by the yellow tubes. This module does not yet include granular jamming and external braided sheath. If you actuate the module, you have the typical "balloon effect" as shown in the following pictures and movie (please note that the central transparent piece is just a plastic support where the module is placed).
Fabrication of Module 1 and Module 2