Term of Award

Fall 2023

Degree Name

Master of Science in Applied Engineering (M.S.A.E.)

Document Type and Release Option

Thesis (open access)

Copyright Statement / License for Reuse

Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 License.


Department of Manufacturing Engineering

Committee Chair

Yue Zhang

Committee Member 1

Haijun Gong

Committee Member 2

Lianjun Wu


The progress in materials engineering and the ability to make various models possible have made soft robotics a popular alternative to traditional robotics. Still, soft robots need various parts, like Printed Circuit Boards (PCBs), batteries, cables, fittings, and more, to work correctly or to get attached to other complex parts. These parts can have different material properties, like elastic moduli, strength, etc. Because of these differences, mechanical failures happen at the points where two materials meet, making soft robots less durable and less lasting in real-life situations due to failure. Conventionally, the fabrication of soft robot parts is through moulding. The advent of additive manufacturing has given much potential for manufacturing soft robot parts such as grippers. The extrusion additive manufacturing approach, precisely the direct ink writing (DIW) additive manufacturing technology approach, has been considered to have the highest potential to manufacture soft robot parts due to its wide range of material capabilities, simplicity, and ability to combine diverse materials in a single process. However, this approach is still in its early stage of development, giving it a good prospect in manufacturing soft robots. This work conducted a pilot investigation to enhance the interfacial property of 3d printed parts that incorporate both soft and hard phases by DIW of a silicone-polyurethane resin hybrid material. The interfacial adhesion was tested by conducting T-peel tests, showing improved peeling strength.

INDEX WORDS: Silicone, Polyurethane resin, Direct ink writing, Peel test.

Research Data and Supplementary Material


Available for download on Wednesday, December 17, 2025