#  Fabrication 

 



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 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 

Sort      ![structure_line](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtsandbox/files/structure_line.png?itok=5Jg-EkfO) 

 

 

  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.

 

      ![airbags_line](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtsandbox/files/airbags_line.png?itok=D4NfESYm) 

 

 

  Pneumatic networks are fabricated manually. With the help of bag sealer machine, we can put Air Column Bag into pneumatic network.

 

      ![assemble](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtsandbox/files/assemble.png?itok=K0KrD-9E) 

 

 

  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.