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Fabrication of the micro gripper

2 arms micro gripper
Design look:

3. The first part of the gripper is finished. Fabrication steps: 1. Nail – For poking small hole in the gripper for tube insertion 5. 4. Pneumatic tube – A tube connecting plastic bottle and gripper for air inflation. Plastic bottle – For inflating the gripper upon completion. Eco-flex 0050 2. 5. 3. Cardboard – For construction of walls of malls 2. Sewing thread – For gripper hand wrapping to control the gripper hand direction when inflating. Removed cured rubber starting from the outside edge toward to the other edge with gently. 4. Draw mold construction parts on the cardboard.Materials: a) For mold 1. 7. Draw the outline of the gripper on another cardboard and assemble all the mold parts on the cardboard with hot glue gun. Hot glue gun – Stick the cardboard pieces together for mold construction. Walls for the shape of the gripper. which consist of walls and blocks. Add another layer of eco-flex on the inner side of the gripper to smoothen the cavity. . 2. blocks for the air channel in the gripper. Place the mold on the flat surface and carefully pour mixed eco-flex 0050 into the mold and wait for four hour for it to cure. Cloth – Serve as a non-stretch fabric 4. Cutter – For cutting the cardboard to pieces 3. Scissors – For paper template and card board cutting. 6. Cutting board – Place under the cardboard when doing the cutting job. b) For microgripper 1. Cut it with cutter and scissor.

15. Use a nail to puncture the top of the gripper to create a passage for the tube to reach the inner cavity of the gripper. 12. 11. Make sure the air cavity is between both parts. The gripper should inflate if the air channel is not blocked. Wait for another 4 hours for it to cure. Finished. Glue both parts of the gripper together with eco-flex. which the ultimate goal is to make the arms close at same time when inflated. 7. This complete the gripper construction. To pump the air into the gripper. remove the gripper and trim the excess eco-flex using scissor. Once the arm wrapping process is done. 17. the construction mold is simple. . After the hot glue is dried out. Surround the tubing inside of the bottle caps with glue. Remove the nail and insert the tube into the gripper. Cut the cloth according to the shape of the gripper but smaller in size and place it on top of the eco-flex in the mold and fill the mold afterward. we use a DIY air pump which is an empty bottle. Wait for four hour for it to cure. To add friction of the gripper. Lightly squeeze the bottle to test the air chamber of the gripper. 14. To control the inflation of the gripper. 9. pour just enough of eco-flex into the mold to cover the bottom. fill the second mold again with eco-flex and place the wrapped gripper on top of it and wait for 4 hour to cure. carefully remove it from the mold from one side to the other side.6. The second part of the gripper is completed. Draw the outline of the gripper on a cardboard. 16. and trace it with a single layer of hot glue. 8. After the rubber is cured completely. Wrapping the arms of the gripper is mostly trial and error. sewing thread is used to wrap the arms of the gripper. 18. After the eco-flex is cure. glue the air tube into the gripper. 10. Nail the lid of the bottle and insert the tube into the hole. For the construction of the other part of the gripper. 13.