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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
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.
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.
 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.
Chapter 1 Introduction
Section 1.1 Case Study: Pneumatically Actuated PDMS Fingers
5
[8] Strains.
[7] Displacements.
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