#  Import Parts  

 



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  expand\_more  

 
  

 

In this project, as mentioned in the [Design](/hpn-manipulator/design) section, we only consider the characteristics of the manipulator in x-y plane. And thanks to the structural property, we only analyze a slice of the frame (as shown below) instead of the whole structure, which can make the simulation much less computationally expensive.

 ![part-2](/sites/g/files/omnuum4601/files/2024-11/part-2.png)

 

**The .stp files of the simplified geometry used in this tutorial can be downloaded** [here](/hpn-manipulator/downloads)**.**

#### Import frame

To import the fram go to the model tree in the left sidebar, right-click on **Parts** and select **Import**. Browse to the frame.stp file. The frame here has a little difference from the CAD tutorial model: the chambers' number is 64 instead of 16, and the extruded height is 2 mm instead of 60 mm.

 ![part-plus-3](/sites/g/files/omnuum4601/files/2024-11/part-plus-3.png)

 

 ![part-plus-4](/sites/g/files/omnuum4601/files/2024-11/part-plus-4.png)

 

#### Create airbag

Create a new part named 'air bag' and select **Shell** and **Extrusion**.

 ![part-plus-2](/sites/g/files/omnuum4601/files/2024-11/part-plus-2.png)

 

The slice of a airbag should be with an ellipse shape, but we design the airbag as illustrated below for convenience of adding interactions (mentioned later).

 ![part-plus-1](/sites/g/files/omnuum4601/files/2024-11/part-plus-1.png)

 

Set the **Depth** of this extrusion as 20 and the part of airbag is shown below.

 ![part-3](/sites/g/files/omnuum4601/files/2024-11/part-3.png)

 

You can also directly import the part from .stp file and select **Combine into single part**.

 ![part-plus-6](/sites/g/files/omnuum4601/files/2024-11/part-plus-6.png)

 

Finally, two parts should now appear in the model tree.

 ![part-plus-7](/sites/g/files/omnuum4601/files/2024-11/part-plus-7.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