#  Make Base Mold 

 



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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.

\[[Video: Make base mold](http://www.youtube.com/watch?v=jvDZ_sqdWBc)\]

Measuring our actuator (**Evaluate > Measure**) gives us the dimensions 112mm x 15mm.

 ![image228](/sites/g/files/omnuum4601/files/2024-11/image228.png)

 

 ![image229](/sites/g/files/omnuum4601/files/2024-11/image229.png)

 

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.

 ![image230](/sites/g/files/omnuum4601/files/2024-11/image230.png)

 

 ![image231](/sites/g/files/omnuum4601/files/2024-11/image231.png)

 

The completed base mold should look like this:

 ![image232](/sites/g/files/omnuum4601/files/2024-11/image232.png)

 

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.](/publications/soft-robotics-chemists)

Mosadegh et al. (2013) [Pneumatic Networks for Soft Robotics that Actuate Rapidly.](/publications/pneumatic-networks-soft-robotics-actuate-rapidly)

Ogura et al. (2009) [Micro pneumatic curling actuator: Nematode actuator.](/publications/micro-pneumatic-curling-actuator-nematode-actuator)

Polygerinos et al. (2013) [Towards a soft pneumatic glove for hand rehabilitation.](/publications/towards-soft-pneumatic-glove-hand-rehabilitation)

Shepherd et al. (2011) [Multigait soft robot.](/publications/multigait-soft-robot-0)

Sun et al. (2013) [Characterization of silicone rubber based soft pneumatic actuators.](/publications/characterization-silicone-rubber-based-soft-pneumatic-actuators)



 

##  Contributors 

Panagiotis Polygerinos

Bobak Mosadegh

Alexandre Campo