Gripper

  1. 3d print the connecter mold piece found at the bottom of this page

  2. Follow soft robotics toolkit instructions

If not using a 3d printer use these instructions http://www.instructables.com/id/Soft-Robotic-Grabber-No-3D-Printer-Required/
 

From soft robotics toolkit

http://softroboticstoolkit.com/book/pneunets-fabrication

http://www.instructables.com/id/Air-Powered-Soft-Robotic-Gripper/

                  
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When following these instructions it may take several tries to make a functioning gripper.

Here are our suggestions and modification to the above instructions.

Make sure the gripper is as symmetric as possible so all fingers will bend together; otherwise, one will expand first.

Cut out a piece of paper towel in the shape of the gripper and place it on the flat layer, instead of the printer paper. The paper towel absorbs and sticks to the ecoflex better, and is stronger.

                                            
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Do not puncture the gripper yet.

Fill the connector mold with about 1/2 an inch of ecoflex to create a barb connecting cylinder. This connector is designed to expand to the size of the inside of the 1/2"PVC pipe when the 1/4" barb is in it.

Add this cylinder to the top center of the gripper using ecoflex.

                 
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Use the pin to poke a hole into the gripper through the center of the cylinder but not all the way out the other side of the gripper.

                   
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Use a barbed connector to connect the tube through the hole.

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Test it.