This section contains detailed step-by-step instructions for making a HPN manipulator. As explained in previous sections, the HPN manipulator consists of two parts: the main body consisting of 5 segments of honeycomb structure which were designed with different parameters, and pneumatic networks containing a mass of air chambers arranged regularly. The two parts are fabricated separately and then assembled together.
Process overview
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The fabrication method of the honeycomb structure was accomplised with the technology of 3D-printing, however, limited by the work space of 3D printer, the honeycomb structure of HPN manipulator was divided into 2 parts, each part was printed individually. The material we used to print is PolyFlex which is a kind of TPU that has good features of highly flexibility and a large strain-to-failure, is easy to be print by almost all desktop FDM/FFF printers. |
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Pneumatic networks are fabricated manually. With the help of bag sealer machine, we can put Air Column Bag into pneumatic network. |
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When finished with the fabrication of honeycomb structure and pneumatic networks, we can assemble them together easily. This is a single segment of HPN manipulator which consist of one segment of honeycomb structure and 4 pneumatic networks. When inflated with different pressure, the manipulator can deform in different directions as well as enlongate. |