A Soft Robotic Demonstration in the Stratospher
🤖 AI Summary
This study addresses the challenges of material instability and inadequate actuation performance faced by soft robots operating in near-space extreme environments characterized by high vacuum, cryogenic temperatures, and large pressure differentials. The work proposes a rapid UV-induced crosslinking mechanism catalyzed by trimethyl(methylcyclopentadienyl)platinum(IV), which enhances the dielectric properties and thermal stability of silicone elastomers through carbon–carbon bond formation, significantly broadening their operational temperature range and environmental adaptability. The resulting dielectric elastomer actuators were integrated into an autonomously controlled soft gripper system and successfully validated during two stratospheric balloon flights, reaching an altitude of 23.6 km (pressure <0.05 atm, temperature −55°C). Experimental results demonstrate superior performance compared to existing acrylic- and conventional silicone-based systems, marking the first successful demonstration of such actuators in space-analog conditions.
Application Category
📝 Abstract
Machines designed for operation in Space, as well as other extreme environments, need to be both resilient and adaptable when mission parameters change. Soft robots offer advantages in adaptability, but most lack resilience to the pressure and temperature extremes found as close as the Stratosphere. Dielectric elastomer actuators overcome some of those limitations when built as solid state compliant capacitors capable of converting electrical energy into mechanical work, but the elastomer resilience limits the device's operating window. Here we present a crosslinking mechanism for silicone elastomers under ultraviolet light using trimethyl(methylcyclopentadienyl)platinum(IV) as a catalyst to react hydrosilane to vinyl groups. The formation of carbon-carbon bonds enables fast processing under UV light and exceptional electro-mechanical performance in dielectric elastomer actuators. The material resilience advantage is demonstrated in controlled experiments at -40° and 120° C, as well as near vacuum, in comparison with state-of-the-art acrylic and silicone chemistries. Fully autonomous systems controlling grippers made with the novel silicone were integrated into payloads for high altitude balloon testing. Two stratospheric balloon missions were carried out and demonstrated DEAs as a viable soft robotic technology under space-like conditions (as high as 23.6 km elevation, at <0.05 atm and -55° C). The combinations of chemical building blocks and catalyst can be further expanded to address other challenges for silicones, including adhesion and additive manufacturing.
Problem
Research questions and friction points this paper is trying to address.
soft robotics
stratosphere
dielectric elastomer actuators
extreme environments
material resilience
Innovation
Methods, ideas, or system contributions that make the work stand out.
dielectric elastomer actuators
UV crosslinking
silicone elastomers
soft robotics
stratospheric demonstration
🔎 Similar Papers
2024-09-11Conference on Robot LearningCitations: 6
