Soft Solution is a simple python script that generates STL files of soft robotic grippers / fingers and simple molds for production.

The script generates both the STL of the final design and the 3 molds for the cuts, cavities + channel and the bottom seal.

The script works of the basis that a soft robotic pneumatic actuators are typically made with a repeating pattern of components. Often the optimization of such actuator designs is down to modifying the repeating patterns. Remodeling a full gripper or finger for a simple change, such as thickness of bellow walls, may be time-consuming and difficult.

The aim of this script is to improve prototyping and also allow for fast generation of varying designs for different sized gripers and fingers, such as for compliant robotics and exoskeleton applications.

To start running any code, make sure you install all python packages using the command below.

pip install -r requirements.txt

Future improvements and ideas in progress:

• CSV of finger / gripper dimensions to resultant STLs
• Adjustable pattern components
• Spline calculations and graphing for max bending / expansion