Fiber winding reinforcement is widely used in soft robotic manipulators actuated by pressurized fluids. However, the specific effect of each type of winding on the bending motion of a tubular soft robotics manipulator with three chambers has not been explored widely. We present the development of precise finite element (FE) simulations and investigate the effect of helical fiber winding parameters on the bending motion of a two-degree-of-freedom manipulator with three internal chambers. We first show the development of an FE simulation that optimizes convergence and computational time and precisely matches the behavior of soft robots in practice. Compared to single-chamber robots, simulating three-chamber designs is more challenging due to the complex geometry. We then apply our FE model to simulate all the parameter variations. We show that for helical winding with a constant pitch, the closer the center of a chamber is to the intersection of the windings, the lower the bending stiffness of the chamber is. To minimize bending stiffness variation in different bending directions, the optimal angle between the center of the first chamber and the intersection of the two helical windings are 0° and 12°. Reducing the pitch of the helical windings or using other types of windings (i.e., ring winding or six helical winding) reduces the stiffness variation across different bending directions. The FE simulations are compared with experiments showing that the model can capture complex bending behaviors of the manipulator, even though the estimation tends to be less accurate at higher bending angles.

Equal channel angular pressing is both a novel and an industrialized process among severeplastic deformation methods to fabricate ultra-fine-grained metals and alloys.Verification of a three-dimensional finite element model which compares various strengthcoefficients and strain-hardening exponents (virtual materials) defined for the plasticdeformation behavior of materials was performed with experimental tests. The virtualprocess numerically analyzed the effects of the strain behavior and pressing force. Theresults show that strength coefficient enhancement leads to decreased effective strainvalue, heterogeneous strain distribution and higher pressing force, and an increment inthe strain-hardening exponent results in lower pressing force. However, this parameterdoes not have an obvious effect on the effective strain magnitude and strain dispersaluniformity. Furthermore, the highest imposed effective strain, the best straindistribution homogeneity and the lowest required punch load were achieved for the deformedmaterial with the lowest strength coefficient and highest strain-hardening exponent.

Energy filtered convergent beam electron diffraction was used to investigate localized strain in aluminum interconnects. By analyzing the position of higher order Laue zone lines, it is possible to measure the three-dimensional lattice strain with high accuracy (∼10−4) and high spatial resolution (10 to 100 nm). In the present article, important details of the strain analysis procedure are outlined. Subsequently, results of measurements of the local variation of thermal strains in narrow, free-standing interconnects are presented. The strain development in single grains during thermal cycling between −170°C and +100°C was measured in situ and local stress variations along the interconnect were investigated. The interconnects show reversible elastic behavior over the whole temperature range, leading to large stresses at low temperatures. The strain state varies locally within single grains, as well as from grain to grain, by as much as 50% in both types of samples. By comparing the experimental findings with elastic finite element modeling, a detailed understanding of the triaxial strain state could be achieved.