Soft Material Characterization for Robotic Applications

In this article we present mechanical measurements of three representative elastomers used in soft robotic systems: Sylgard 184, Smooth-Sil 950, and EcoFlex 00-30. Our aim is to demonstrate the effects of the nonlinear, time-dependent properties of these materials to facilitate improved dynamic modeling of soft robotic components. We employ uniaxial pull-to-failure tests, cyclic loading tests, and stress relaxation tests to provide a qualitative assessment of nonlinear behavior, batch-to-batch repeatability, and effects of prestraining, cyclic loading, and viscoelastic stress relaxation. Strain gauges composed of the elastomers embedded with a microchannel of conductive liquid (eutectic gallium-indium) are also tested to quantify the interaction between material behaviors and measured strain output. It is found that all of the materials tested exhibit the Mullins effect, where the material properties in the first loading cycle differ from the properties in all subsequent cycles, as well as response sensitivity to loading rate and production variations. Although the materials tested show stress relaxation effects, the measured output from embedded resistive strain gauges is found to be uncoupled from the changes to the material properties and is only a function of strain.