#  Pattern Sketch 

 



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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.

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

 

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

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

 

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

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

 

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

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

 

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

 

Click **Accept**, and get the sketch below.

 ![pattern](/sites/g/files/omnuum4601/files/2024-11/pattern.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