How to Mould, Bond, and Seal Soft Silicone: Practical Solutions to Common Problems

Improved access to advanced manufacturing techniques, such as additive manufacturing, has caused soft robotic research to increase in popularity over recent years. However, even with growing possibilities, manufacturing experience, and research in soft robotics, problems within manufacturing persist that require solving. The problems encountered can take various forms, from silicone inhibition in resin-printed moulds to adhering silicone to rigid components and designing pressure inlets that withstand higher pressures. However, the solutions are not always documented, preventing other researchers from using the findings to help them innovate in the field. In this context, we present solutions to the aforementioned manufacturing problems that are encountered within soft robotics. We present a post-processing method to allow SLA/DLP printed components to be used as silicone moulds without causing silicone inhibition. We show a method to bond silicone to 3D-printed rigid structures through lattice-based interfacing structures. We present a method to design pressure inlets for soft robots that act as pressure seals commonly used in high-pressure applications. Each solution is tested and shown to be usable in practical applications in soft robotics and adjacent fields.