A Soft Robotic Demonstration in the Stratosphere

TL;DR

This paper introduces a novel silicone elastomer with enhanced resilience for dielectric elastomer actuators, demonstrated in high-altitude balloon missions simulating space conditions.

Contribution

A new UV-crosslinked silicone elastomer with improved resilience and electro-mechanical performance for soft robotics in extreme environments.

Findings

Demonstrated operation at -40°C and 120°C in controlled experiments.

Successfully tested in stratospheric balloon missions at 23.6 km altitude.

Achieved resilient dielectric elastomer actuators suitable for space-like conditions.

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{\deg} and 120{\deg} 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{\deg} C). The combinations of chemical building blocks and catalyst can be further expanded to address other challenges for silicones, including adhesion and additive manufacturing.