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Related Concept Videos

Temperature Dependent Deformation01:12

Temperature Dependent Deformation

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In a nonhomogeneous rod made up of steel and brass, restrained at both ends and subjected to a temperature change, several steps are involved in calculating the stress and compressive load. Due to the problem's static indeterminacy, one end support is disconnected, allowing the rod to experience the temperature change freely. Next, an unknown force is applied at the free end, triggering deformations in the rod's steel and brass portions. These deformations are then calculated and added...
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Plastic Behavior01:21

Plastic Behavior

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A material's elastic behavior is characterized by the disappearance of stress once the load is removed, allowing the material to return to its original state. However, when stress surpasses the yield point, yielding commences, marking the onset of plastic deformation or permanent set. This change from elastic to plastic behavior is influenced by the peak stress value and the duration before the load is removed. An intriguing observation occurs when a specimen is loaded, unloaded, and...
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Members Made of Elastoplastic Material01:19

Members Made of Elastoplastic Material

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The behavior of elastoplastic materials under bending stresses, particularly in structural members with rectangular cross-sections, is crucial for predicting material responses and understanding failure modes. Initially, when a bending moment is applied, the stress distribution across the section follows Hooke's Law and is linear and elastic. This distribution means the stress increases from the neutral axis to the maximum at the outer fibers, up to the elastic limit.
As the bending moment...
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The Collision Theory
Atoms, molecules, or ions must collide before they can react with each other. Atoms must be close together to form chemical bonds. This premise is the basis for a theory that explains many observations regarding chemical kinetics, including factors affecting reaction rates.
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Thermal Strain

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Thermal strain is a concept that arises when we consider how temperature changes affect structures. Unlike the conventional assumption that structures remain constant under load, real-world scenarios often involve temperature fluctuations that can significantly impact these structures. Consider a homogeneous rod with a uniform cross-section resting freely on a flat horizontal surface. If the rod's temperature increases, the rod elongates. This elongation is proportional to the temperature...
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Relation between Poisson's ratio, Modulus of Elasticity and Modulus of Rigidity

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Deformation occurs in axial and transverse directions when an axial load is applied to a slender bar. This deformation impacts the cubic element within the bar, transforming it into either a rectangular parallelepiped or a rhombus, contingent on its orientation. This transformation process induces shearing strain. Axial loading elicits both shearing and normal strains. Applying an axial load instigates equal normal and shearing stresses on elements oriented at a 45° angle to the load axis.
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Characterization of Temperature and Humidity Dependence in Soft Elastomer Behavior.

Elze Porte1,2,3, Sophia Eristoff1, Anjali Agrawala1

  • 1Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA.

Soft Robotics
|September 5, 2023
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Summary

This study tested common soft robot elastomers across various temperatures and humidity levels. Results show temperature significantly impacts elastomer properties, affecting soft robot performance in extreme conditions.

Keywords:
electromechanical testenvironmental conditionssensorssoft roboticsspacetensile test

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Area of Science:

  • Robotics
  • Materials Science

Background:

  • Soft robots offer advantages in unstructured environments and space exploration due to their adaptability and lightweight design.
  • Elastomers are primary materials for soft robots, but their behavior in extreme conditions is not well-documented.

Purpose of the Study:

  • To characterize the material properties of four common soft robotics elastomers under varying temperature and humidity.
  • To evaluate the impact of these material changes on stretchable capacitive sensor performance.

Main Methods:

  • Tested EcoFlex 00-30, Dragon Skin 10, Smooth-Sil 950, and Sylgard 184 elastomers.
  • Conducted pull-to-failure, stiffness, and stress-relaxation tests from -40°C to 80°C and 5-95% RH.
  • Performed a case study on soft elastomer-based stretchable capacitive sensors.

Main Results:

  • All tested elastomers exhibited temperature-dependent stiffening and reduced strain at failure with increasing temperature.
  • Stress-relaxation responses varied by elastomer type with temperature.
  • Humidity showed minimal impact on elastomer mechanical properties, but affected sensor capacitance alongside temperature.

Conclusions:

  • Elastomer performance in soft robots is significantly influenced by temperature, necessitating careful material selection for extreme environments.
  • Component-level testing is crucial, as sensor capacitance is affected by both temperature and humidity, independent of purely mechanical changes.