Abstract 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.

中文翻译：

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具有柔性中心链和悬臂梁的混合柔性机构的动力学分析

摘要 由于手部生理性颤抖和脆弱的组织，视网膜和白内障手术中的膜剥离是一项具有挑战性的任务。为了解决这个问题，我们提出了一种带有柔性中心链和悬臂梁的混合柔顺机构，以抑制手颤并沿剥离方向振动，因为振动可以降低剥离力。特别设计的质量块使得在动态建模中中心链和悬臂梁的轴向变形可以忽略不计。然后我们研究了所提出的混合顺从机制的动态响应。给出了柔性链节、中心链和悬臂梁的伪刚体模型（PRBM）。推导出移动平台与平行运动链之间的关系。接下来，使用拉格朗日方程建立全动态模型。此外，通过适当的正交分解（POD）方法降低全动态模型的维数。仿真结果表明，降阶模型比全动态模型快约 9.0 倍。实验结果表明，全动态模型和降阶模型的平均相对误差分别为2.12%和1.93%。