Pattern Sketch

The manipulator frame is composed of two lines, with 8 chambers on each line. In this page, we show how to sketch that using Linear Sketch Pattern and Move Entities operators.

Here is the sketch of a single chamber with inner grooves finished in last step.

We use Linear Sketch Pattern operator and pattern it as below, with instances as 8 and spacing as 5.5 mm.

Click Accept (green check mark on the left), and finish the pattern. The result is shown below.

Then, enable Move Entities operator, and select start point and end point at the red points shown below.

Click Accept, and get the sketch below.

Bibliography

Jiang et al. (2016) Design and Simulation Analysis of a Soft Elastomer Manipulator based on Honeycomb Pneumatic Networks.

Sun et al. (2016) FLEXIBLE HONEYCOMB PNEUNETS ROBOTS.

Jiang et al. (2017) A Two-Level Approach for Solving the Inverse Kinematics of an Extensible Soft Arm Considering Viscoelastic Behavior.

Jiang et al. (2016) Design and Simulation Analysis of a Soft Manipulator Based on Honeycomb Pneumatic Networks.

Giri et al. (2010) Continuum robots and underactuated grasping

Grissom, et al. (2006) Design and experimental testing of the OctArm soft robot manipulator.

Contributors

Hao Jiang

Zhanchi Wang

Xinghua Liu

Xiaotong Chen

Yusong Jin

Hao Sun

Xiaoping Chen