Using an environmentally benign and degradable elastomer in soft robotics

This work introduces an environmentally benign and degradable elastomer, poly(glycerol sebacate) with calcium carbonate (PGS-CaCO _3 ), for use in soft robotics. Development of greener materials like PGS-CaCO _3 contributes to robot designs that do not require retrieval and can safely degrade in the natural environment. A simplified synthesis method of PGS was used to create elastomer sheets, which were laser cut/rastered then laminated with cyanoacrylate glue into pneumatic soft actuators. The modified polymer synthesis method is accessible for roboticists and the three chemicals used are non-hazardous and inexpensive. Three accordion-style pneumatic actuators (3, 4 and 5 chambers) were characterized for free displacement and blocked force in both linear extension and curling motions, and an additional four 3-chambered actuators were also tested to leakage and failure. Material characterization of PGS-CaCO _3 samples of all ages gave: ultimate tensile strength (UTS) from 48 to 160 kPa, elongation percent at UTS from 157 to 242