Abstract
Hybrid compliant mechanism (HCM), a kind of ophthalmic robot, offers a potential way to suppress the fluctuation force in continuous curvilinear capsulorhexis. The fluctuation force is caused by the involuntary interaction between forceps and the grasped membrane. The HCM is expected to control the fluctuation force for all types of grasped membrane, regardless of their lengths (1–7 mm), widths (1–3 mm), Young’s modules (2–3.4 MPa), and driving frequencies (8–12 Hz). This paper aims to optimize the HCM’s performance while taking the dynamic response of the grasped membrane into account. A five-chain HCM with force-sensing forceps is proposed, along with a pseudo-rigid body model. Then, the dynamic interaction model between HCM and membrane loaded is developed. Next, analyze the effect of HCM and membrane parameters on the interaction force, and optimize the HCM. The optimization results are verified through experiments, in which polydimethylsiloxane (PDMS) is used as membrane-loaded. In experiments, the maximum interaction force is 4.26 mN (x, 10 Hz)/3.73 mN (y, 10 Hz) when the length, Young’s module, and width of the membrane are 8 mm, 2 MPa, and 1 mm, respectively.
| Original language | English |
|---|---|
| Pages (from-to) | 2061-2078 |
| Number of pages | 18 |
| Journal | Nonlinear Dynamics |
| Volume | 113 |
| Issue number | 3 |
| DOIs | |
| State | Published - Feb 2025 |
Keywords
- Continuous curvilinear capsulorhexis
- Dynamic optimization
- Hybrid compliant mechanism
- Membrane-loaded
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