#  Design 

 



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 The tool has been coded in the software program [OpenSCAD](http://www.openscad.org/) that can be downloaded and used for free. OpenSCAD is a CAD program that can generate 3D models from written code. These models can be output in different formats, including as a 3D printable STL file.

 The code of the parametric file contains a number of variables that can be altered to yield a different actuator design:

 ![var](/sites/g/files/omnuum4601/files/srtsandbox/files/variables_copy.png)

 

 These variables include:

- The dimensions of the interior channel that connects the chambers of the pneumatic network and ("Air\_channel\_length", "Air\_channel\_width", "Air\_channel\_height")
- The dimensions and spacing of the ribs that create the chambers in the actuator ("Rib\_element\_width", "Rib\_element\_depth", "Rib\_element\_height", "Rib\_element\_spacing")
- The thickness of the silicone walls that surround the chambers ("Robot\_endwall\_thickness", "Robot\_sidewall\_thickness", "Robot\_topwall\_thickness")

 The variable "Air\_connector\_length" sets the length of a piece of the actuator that is solid, where tubing for actuation can be inserted and fixed:

 ![Air_connector_length](/sites/g/files/omnuum4601/files/srtsandbox/files/air_connector_length.jpg)

 

 "TwistAngle" is used to rotate each rib a specific angle around its vertical axis. This will create an actuator that curls to the side:

 ![twist](/sites/g/files/omnuum4601/files/srtsandbox/files/twist.jpg)

 

 The variable "Air\_channel\_pos\_offset" is used to offset the air channel from the middle position:

 ![offset](/sites/g/files/omnuum4601/files/srtsandbox/files/offset.jpg)

 

 Finally, the thickness of the walls of the mold itself can also be adjusted ("Mold\_bottom\_thickness", "Mold\_wall\_thickness").