机制(生物学)
刚度
钻石
流离失所(心理学)
计算机科学
顺应机制
运动学
参数统计
有限元法
机械工程
机械
结构工程
材料科学
物理
经典力学
工程类
统计
心理治疗师
复合材料
心理学
量子力学
数学
作者
Chen Zhang,Shuaishuai Lu,Pengbo Liu,Peng Yan
摘要
Precision manipulation is plays an increasingly crucial role in bioengineering fields such as cell injection. Due to the specificity of the operational process, which is highly susceptible and damageable by the actuated force, millimeter-level nondestructive operations are gaining more and more attention. With this, a symmetrical compliant constant-force mechanism (CCFM) is developed to provide stable and large motion stroke for damage-free precision manipulation in this paper. The mechanism design is inspired by the legs of the locust, which flexes and folds when the locust jumps. In terms of structure design, double biomimetic diamond beams are used to generate positive and negative stiffness. A crossbeam is added to the internal diamond mechanism, which flexes during movement to provide negative stiffness, while the external diamond mechanism without additional constraint provides positive stiffness. The theoretical model of this CCFM is established to analyze its force-displacement relationship, which is verified by performing finite element analysis simulations and experimental studies. Meanwhile, a parametric study is conducted to investigate the influence of the dominant design variable of the CCFM. Finally, the test results show that the CCFM can generate motion range up to 5 mm with a constant output force ∼15.2 N. The developed CCFM has potential applications in the field of manipulation techniques of cell engineering and robotics in the future.
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