Dynamic analysis of a hybrid compliant mechanism with flexible central chain and cantilever beam

Membrane peeling in retinal and cataractous surgery is a challenging task due to physiological hand tremors and delicate tissue. To relieve this problem, we proposed a hybrid compliant mechanism with a flexible central chain and a cantilever beam to suppress hand tremors and vibrate along peeling direction since the vibration can reduce peeling force. The particularly designed mass block makes the axial deformation of central chain and cantilever beam negligible in dynamic modeling. We then studied the dynamic response of the proposed hybrid compliant mechanism. The pseudo-rigid-body model (PRBM) of compliant links, central chain and cantilever beam is given. The relationship between the moving platform and parallel kinematic chains is derived. Next, the full dynamic model is established using the Lagrange equation. Furthermore, the dimension of the full dynamic model is reduced by the proper orthogonal decomposition (POD) method. Simulation results show that the reduced-order model is about 9.0 times faster than the full dynamic model. Experimental results show that the average relative errors of the full dynamic model and the reduced-order model are 2.12% and 1.93%, respectively.