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Fabrication of the micro gripper

2 arms micro gripper

Design look:

a) For mold
1. Cardboard – For construction of walls of malls
2. Cutter – For cutting the cardboard to pieces
3. Cutting board – Place under the cardboard when doing the cutting job.
4. Hot glue gun – Stick the cardboard pieces together for mold construction.

b) For microgripper
1. Eco-flex 0050
2. Scissors – For paper template and card board cutting.
3. Cloth – Serve as a non-stretch fabric
4. Nail – For poking small hole in the gripper for tube insertion
5. Plastic bottle – For inflating the gripper upon completion.
6. Sewing thread – For gripper hand wrapping to control the gripper hand direction when
7. Pneumatic tube – A tube connecting plastic bottle and gripper for air inflation.

Fabrication steps:

1. Draw mold construction parts on the cardboard, which consist of walls and blocks. Walls
for the shape of the gripper, blocks for the air channel in the gripper. Cut it with cutter
and scissor.
2. Draw the outline of the gripper on another cardboard and assemble all the mold parts on
the cardboard with hot glue gun.
3. 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.
4. Removed cured rubber starting from the outside edge toward to the other edge with
5. Add another layer of eco-flex on the inner side of the gripper to smoothen the cavity. The
first part of the gripper is finished.
6. For the construction of the other part of the gripper, the construction mold is simple.
Draw the outline of the gripper on a cardboard, and trace it with a single layer of hot glue.
7. After the hot glue is dried out, pour just enough of eco-flex into the mold to cover the
bottom. 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. Wait for four hour for it to
8. After the rubber is cured completely, carefully remove it from the mold from one side to
the other side. The second part of the gripper is completed.
9. Glue both parts of the gripper together with eco-flex. Make sure the air cavity is between
both parts. Wait for another 4 hours for it to cure. This complete the gripper construction.
10. To pump the air into the gripper, we use a DIY air pump which is an empty bottle. Nail
the lid of the bottle and insert the tube into the hole. Surround the tubing inside of the
bottle caps with glue.
11. 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. Remove the nail and insert the tube into the gripper.
12. Lightly squeeze the bottle to test the air chamber of the gripper. The gripper should
inflate if the air channel is not blocked.
13. To control the inflation of the gripper, sewing thread is used to wrap the arms of the
14. Wrapping the arms of the gripper is mostly trial and error, which the ultimate goal is to
make the arms close at same time when inflated.
15. Once the arm wrapping process is done, glue the air tube into the gripper.
16. To add friction of the gripper, fill the second mold again with eco-flex and place the
wrapped gripper on top of it and wait for 4 hour to cure.
17. After the eco-flex is cure, remove the gripper and trim the excess eco-flex using scissor.
18. Finished.