A PDF document is one created by Adobe Acrobat, and cannot be read by Audrey, since she does not support Acrobat software. PDF documents are useful if you need a special form to fill out, say for a government agency. For those, you will have to go to a real PC.
But what if you just want to read something that is in PDF format, without needing to use it as an official form? If you can find the URL (the website address) of the the PDF form, you can still see what it says.
When you find the PDF form on your browser, hit the "copy" key on your keyboard. Then, press the email button on your Audrey console, and tap "create new mail" In the "to" line, put firstname.lastname@example.org . In the "new typed mail" part, put the URL into the box by tapping it to put the cursor in it, (make sure it has the "http://" part in the front of the "www" part) then hit the copy key on your keyboard. Send the email.
You will get back a document in your email which is as close as practically possible to the text of the PDF document. Some characters and images will not translate into text characters, but you should be able to read most everything on a document that is primarily text.