Effect of surface adhesion characteristics on stick-slip mechanism of flexible film/substrate bilayer structure: Multiscale insight

The key to tactile sensors' sliding perception is the stick-slip modulation of the soft material through surface design. Herein, in-situ sliding tests were conducted on polydimethylsiloxane (PDMS) film/substrate bilayer structures (PF/SBS) with three surface adhesion characteristics tailored by crosslinking degrees of PDMS film. Microscopic damage mechanisms during Schallamach wave propagation were analyzed using mixed-mode cohesive contact models. Intermolecular interaction mechanisms at microscopic crack tips were also explored using PDMS-Silica (SiO₂) molecular models with varying PDMS crosslinking degrees. The Schallamach waves and tangential force strongly depended on the crosslinking degree of PDMS film. The varying effects of crosslinking degree on normal and tangential separation mechanisms lead to a transition in Schallamach wave damage from mixed mode to Mode II during propagation.