#  Groove on the Corner 

 



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As discussed before, there are two parameters affecting the mechanical property of the manipulator: wall thickness and groove depth of the honeycomb structure. In this step, we will implement 2 mm depth grooves in sketch.

Below is the single chamber finished in last step.

 ![single_chamber](/sites/g/files/omnuum4601/files/2024-11/single_chamber.png)

 

We draw a rectangle with a depth of 2 mm and a width of 0.4 mm at the inner acute angle.

 ![groove](/sites/g/files/omnuum4601/files/2024-11/groove.png)

 

Then we obtain grooves on two sides using the **Mirror Entities** operator.

 ![groove_mirror](/sites/g/files/omnuum4601/files/2024-11/groove_mirror.png)

 

### Bibliography

Jiang et al. (2016) [Design and Simulation Analysis of a Soft Elastomer Manipulator based on Honeycomb Pneumatic Networks.](/publications/design-and-simulation-analysis-soft-manipulator-based-honeycomb-pneumatic)

Sun et al. (2016) [FLEXIBLE HONEYCOMB PNEUNETS ROBOTS.](/publications/flexible-honeycomb-pneunets-robot)

Jiang et al. (2017) [A Two-Level Approach for Solving the Inverse Kinematics of an Extensible Soft Arm Considering Viscoelastic Behavior.](/publications/two-level-approach-solving-inverse-kinematics-extensible-soft-arm)

Jiang et al. (2016) [Design and Simulation Analysis of a Soft Manipulator Based on Honeycomb Pneumatic Networks.](/publications/design-and-simulation-analysis-soft-manipulator-based-honeycomb-pneumatic)

Giri et al. (2010) [Continuum robots and underactuated grasping](https://softroboticstoolkit.com/publications/continuum-robots-and-underactuated-grasping)

Grissom, et al. (2006) [Design and experimental testing of the OctArm soft robot manipulator](/publications/design-and-experimental-testing-octarm-soft-robot-manipulator).

### Contributors

Hao Jiang

Zhanchi Wang

Xinghua Liu

Xiaotong Chen

Yusong Jin

Hao Sun

Xiaoping Chen