====== 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~~