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--- soft-robotics:molds:extending-sausage [2017/12/11 13:49]
avnerus created
+++ soft-robotics:molds:extending-sausage [2018/05/07 17:58] (current)
avnerus
@@ Line 1: / Line 1: @@
 ====== Extending Sausage ======
+The extending sausage mold is used as a neck muscle actuator. It has undergone several iterations.
+===== Iteration 1 =====
+{{:soft-robotics:molds:sausagev1.png?nolink&500|}}
+  * The first iteration was completely 3d-printed.
+  * As in any fiber reinforced actuator, comprised of three steps:
+    - Dragon skin chamber with threads for fiber wrapping.
+    - Ecoflex skin wrapping the fiber.
+    - Capping the sides and inserting the tube.
+  * **It went through several modifications, but all of them had issues with mold release and bubbles.**
+  * [[https://cloud.avner.us/index.php/apps/files/?dir=/Soft%20Robotics/Molds/Extending%20Fiber%20Reinforced%20(Sausage)&fileid=761|Model files found here]]
+===== Iteration 2 =====
+{{:soft-robotics:molds:sausagev2.png?nolink&400|}}{{:soft-robotics:molds:sausagev2_lathe.png?nolink&400|}}
+  * Uses a metal lathe for the air chamber instead of a PLA sausage.
+  * **Inner chamber is easier to release, but top part still hard to release**.
+  * **Still has issues with bubbles**.
+  * [[https://cloud.avner.us/index.php/apps/files/?dir=/Soft%20Robotics/Molds/sausage-maker-joaquin/prints-with_draft&fileid=922|Mold files are here.]]
+===== Iteration 3 =====
+{{:soft-robotics:molds:sausagev3_sketch.jpg?nolink&400|}}
+  * Uses silicone injection while tilting and a bubble escape path on the highest point.
+  * Top part (and maybe also bottom) should be printed with the Formlab.
+  * Has a notch for pulling out the top part.
+~~DISCUSSION~~

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