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Chapter 1 Introduction

1

Chapter 1

Introduction

1.1

Case Study: Pneumatically Actuated PDMS Fingers

1.2

Structural Mechanics: A Quick Review

1.3

Finite Element Methods: A Conceptual Introduction

1.4

Failure Criteria of Materials

1.5

Review

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Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

2

Section 1.1

Case Study: Pneumatically Actuated

PDMS Fingers

Problem Description

[1] The pneumatic

ﬁngers are part of a

surgical parallel robot

system remotely

controlled by a surgeon

through the Internet.

[2] A single

ﬁnger is studied in

this case.

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Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

3

5

[4] The strain-stress

curve of the PDMS

elastomer used in

this case.

[3]

Geometric

model.

4

s )

3

2

1

0

0

0.2

0.4

0.6

0.8

1.0

Strain (Dimensionless)

[6] Undeformed

shape.

[5] As air pressure

applies, the ﬁnger bends

downward.

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Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

4

Static Structural Simulations

[1] Prepare

material

properties.

[4] Set up loads

and supports.

[2] Create

geometric model.

[5] Solve the

model.

[3] Generate ﬁnite

element mesh.

[6] View the

results.

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Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

5

[8] Strains.

[7] Displacements.

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