Chapter 1 Introduction

Chapter 1
Introduction
1.1 Case Study: Pneumatically Actuated PDMS Fingers
1.2 Structural Mechanics: A Quick Review
1.3 Finite Element Methods: A Concise Introduction
1.4 Failure Criteria of Materials
1.5 Review

Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

Section 1.1
Case Study: Pneumatically
Actuated PDMS Fingers
Problem Description
[2] The fingers size is
80x5x10.2 (mm). There are 14
air chambers in the PDMS
finger, each 3.2x2x8 (mm).

[1] A robot hand has five

fingers, remotely
controlled by a surgeon
through internet.

Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

Problem Description

[4] The strain-stress

curve of the PDMS
elastomer used in
this case.

[3] Geometric
model.

[6] Undeformed
shape.
[5] As air pressure
applies, the finger bends
downward.

Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

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.

Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

Static Structural
Simulations

[7]
Displacements.

[8] Strains.

Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

Buckling and StressStiffening

Stress-stiffening: bending stiffness increases with increasing axial tensile

stress, e.g., guitar string.

The opposite also holds: bending stiffness decreases with increasing axial
compressive stress.

Buckling: phenomenon when bending stiffness reduces to zero, i.e., the

structure is unstable. Usually occurs in slender columns, thin walls, etc.
[2] The upper surface would
undergo compressive
stress. It in turn reduces
the bending stiffness.

[1] If we
apply an
upward force
here...

Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

Dynamic Simulations

When the bodies move and

deform very fast, inertia
effect and damping effect
must be considered.
When including these
dynamic effects, it is called
a dynamic simulation.

Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

Modal
Analysis
A special case of dynamic
simulations is the simulation of
free vibrations, the vibrations of
a structure without any loading.
It is called a modal analysis.
Purpose of a modal analysis is
to find natural frequencies and
mode shapes.

Chapter 1 Introduction

Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers

Structural Nonlinearities
Linear simulations assume
that the response is linearly
proportional to the loading.
When the solution deviates

[2] Solution of
the linear
simulation pf the
PDMS finger.

from the reality, a nonlinear

simulation is needed.
Structural nonlinearities
come from large deformation,
topology changes, nonlinear
stress-strain relationship, etc.

[1] Solution of the

nonlinear
simulation of the
PDMS finger.

Chapter 1 Introduction

Section 1.4 Failure Criteria of Materials

10