Make Base Mold
Now we have to make the mold for the actuator’s base layer. This is simply a rectangle that has the same dimensions as the main actuator, with a 4mm raised lip around the edge.
Measuring our actuator (Evaluate > Measure) gives us the dimensions 112mm x 15mm.
Extrude a 112mm x 15mm rectangle to 3mm thickness. Use the same method as before, with the alignment lip, to create a 4mm high lip around this mold.
The completed base mold should look like this:
Save it as a .stl file.
The mold solid models are now complete. You can use the .stl files you have created to make the molds with a 3D printer.
Bibliography
Ilievski et al. (2011) Soft robotics for chemists.
Mosadegh et al. (2013) Pneumatic Networks for Soft Robotics that Actuate Rapidly.
Ogura et al. (2009) Micro pneumatic curling actuator: Nematode actuator.
Polygerinos et al. (2013) Towards a soft pneumatic glove for hand rehabilitation.
Shepherd et al. (2011) Multigait soft robot.
Sun et al. (2013) Characterization of silicone rubber based soft pneumatic actuators.
Contributors
Panagiotis Polygerinos
Bobak Mosadegh
Alexandre Campo