Robot Manipulator
Five (5) Degrees of Freedom robot manipulator has been used for the development.
Finger (Elastromer based actuator)
This actuator consists of two main parts, the main body and the base. Eleven (11) chambers were connected in series for the main body. In this main body, the Chamber separation wall was thinner than the other walls in order to bend without expanding. The base was a rectangular plate. Solidworks CAD software was used to design the mold of the Gripping actuators and to export .stl files for 3D printing.
The figure shows the Robot Manipulator & the Elastromer based gripping actuators.