Open Source RoboticsRobots, software & field notes

SoAG soft gripper

Soft gripPneumatic actuation

Based on published sources · Not tested by us ·

Overview

A pneumatic soft gripper made with cast elastomer and printed molds. [S001]

This profile covers the soft actuator subsystem of the SoAG aerial robot. The gripper uses cast elastomer, printed molds and pneumatic actuation; aircraft dimensions and mass must not be treated as gripper specifications. [S001]

Official website · Source code

Specifications

DetailDescription
TypeSoft grippers
Editorial grouping from hardware design.
Editorial assessment [S001] · Checked 2026-09-30
Intended usersResearch builders evaluating end-effector fabrication and integration
Editorial assessment [S001] · Checked 2026-09-30
AssemblyPrint molds/bases, mix and degas elastomer, cast and cure, bond layers, assemble pneumatic regulation and test on a fixture before any host integration.
Research synopsis of upstream route; not independently executed instructions.
Editorial assessment [S001] [S002] [S003] · Checked 2026-09-30
CalibrationNot known
Operating systemNot known
Computer neededNot known

3D preview

Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.

Assembly and use

Fabrication route

The documented process uses PLA molds and bases printed in flexible 80A resin. It involves mixing and degassing elastomer, casting and curing, then bonding layers with Sil-Poxy. Access to a degassing chamber is part of that route. The base-layer process also uses silicone surrounding the flexible base; distinguish the PLA mold, resin base and cast material when selecting fabrication equipment. [S001]

Start with Hardware/Actuator/STL and Hardware/Actuator/Solidworks at the cited revision. These provide a design starting point, not a reconciled gripper-only shopping list. The pneumatic system described by the project includes two micro pumps, a valve, a MOSFET module and Arduino Nano. [S001] [S003]

Control and integration

Software/Arduino/actuation/actuation.ino and Software/ROS/flying_gripper are the documented control starting points. The original aircraft uses Arduino and ROS 1/rosserial; other host integration has not been verified here. As an editorial recommendation, establish a fixture-test procedure before host integration; a validated leak, recovery and pressure-test protocol is not supplied by this review. [S001] [S003]

Open questions and terms

This review has not established a complete gripper-only BOM, exact elastomer and operating-pressure specifications, current suppliers or a complete delivered cost. File availability does not establish a compatible mechanical and control configuration. No hardware was built or tested. [S001] [S003]

The repository's root license is MIT, with copyright and permission-notice retention. The evidence does not establish the reuse terms of externally linked GrabCAD aircraft designs; the repository license does not resolve those external rights. [S002]

Cost

No current, complete configuration-specific build cost has been established for this profile.

Source files and licenses

Source-researched component coverage; complete build, commercial rights and performance qualification remain separate.

LayerAvailability / license
mechanical designavailable · MIT
Root MIT; external GrabCAD aircraft designs are separately scoped. [S001] [S002] [S003]
electronicsnot found · License not fully assessed
Inspected sources do not establish a complete revision-matched source set for this layer. This finding does not mean the purchased components are closed source. [S001] [S002] [S003]
firmwarenot found · License not fully assessed
Inspected sources do not establish a complete revision-matched source set for this layer. This finding does not mean the purchased components are closed source. [S001] [S002] [S003]
softwarenot found · License not fully assessed
Inspected sources do not establish a complete revision-matched source set for this layer. This finding does not mean the purchased components are closed source. [S001] [S002] [S003]
documentationavailable · MIT
Root MIT; external GrabCAD aircraft designs are separately scoped. [S001] [S002] [S003]

This configuration is reviewed as a physical end effector with ordinary control, without a selected learned policy or dataset.

References

Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.

  1. S001 · UCR-Robotics / project contributors
    Project overview
    Accessed 2026-09-30 · a72c7fbb500426955e7b81f4e0155c3ceeac6807 README.md
    Source notes

    Inspected source text for the scoped findings in this research record.

  2. S002 · UCR-Robotics / project contributors
    License evidence
    Accessed 2026-09-30 · a72c7fbb500426955e7b81f4e0155c3ceeac6807 LICENSE
    Source notes

    Inspected source text for the scoped findings in this research record.

  3. S003 · UCR-Robotics
    Pinned artifact inventory
    Accessed 2026-09-30 · a72c7fbb500426955e7b81f4e0155c3ceeac6807
    Source notes

    File inventory inspected; source completeness and build compatibility assessed separately.

Research and review details

Source research only. No hardware assembly, performance testing, procurement or support qualification performed.

Profile edited 2026-09-30 · Sources checked 2026-09-30 · Next review target 2026-10-30

Revision: a72c7fbb500426955e7b81f4e0155c3ceeac6807; Soft actuator subsystem of SoAG aerial robot, not entire aircraft.

Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1

Change history

2026-09-30 — Deep source acquisition, licensing and configuration review in isolated end-effector research staging.

2026-09-30 — Classified in the end-effector hierarchy with cited mechanism and platform evidence; build and rights limitations retained.