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
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.
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.
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