A type of symmetrical differential lever displacement amplification mechanism

Fan, Wei; Jin, Huaxue; Fu, Yiming; Lin, Yuyang

doi:10.1051/meca/2021003

Cited by 14 publications

(11 citation statements)

References 9 publications

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“…They can not only be used for simple displacement adjustment, but also form complete motion control systems by combining multiple differential lever structures, such as parallel mechanisms, series mechanisms, and so on. Therefore, differential lever mechanisms are widely used in fields such as micro-machinery, robotics, aerospace, and optoelectronics [16,17]. As shown in Figure 1, a differential amplifying lever structure with the same direction of driving is presented.…”

Section: Differential Lever Mechanismmentioning

confidence: 99%

Design of stroke reduction mechanism based on differential principle

Qian,

Chen,

2024

Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023)

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An elastic stroke reduction mechanism based on the principle of differential lever is designed. The mechanism uses flexible hinges to transfer potential energy, and the displacement of the input end is transferred to the output end through the designed reduction ratio, so that the displacement resolution is improved, and the nonlinear and hysteresis errors are small. Firstly, the theoretical model of the stroke reduction mechanism is designed by differential principle and flexible hinge, then the static and modal analysis of the mechanism is carried out by ANSYS finite element, and the stroke reduction ratio of the mechanism is simulated to be 31.55 times. Finally, an experimental platform is built to measure the displacement output characteristics of the mechanism. The experimental results show that the designed stroke reduction mechanism has a displacement reduction ratio of 30.4 times, and the error with the simulation results is only 3.6%, which is consistent. At the same time, the dynamic input test shows that the mechanism has good dynamic stability and controllability.

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Section: Differential Lever Mechanismmentioning

confidence: 99%

Design of stroke reduction mechanism based on differential principle

Qian,

Chen,

2024

Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023)

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“…Thus, forces are safely applied using a lever principle that places a driving device at the distal end, as shown in Figure 5. 32 The proposed lever system consists of a sliding table, linkages (A1, A2 and B), a guide block and two springs. The two levers are arranged symmetrically on both sides of the guide pinhole.…”

Section: A Needle Guide For Tr Prostate Btmentioning

confidence: 99%

“…However, limited internal space and safety factors prevent the device from being directly inserted into the rectum. Thus, forces are safely applied using a lever principle that places a driving device at the distal end, as shown in Figure 5 32 …”

Section: A Needle Guide For Tr Prostate Btmentioning

confidence: 99%

A needle deflection model with operating condition optimization for corrective force‐based needle guidance during transrectal prostate brachytherapy

Dai

Zhang

Jiang

et al. 2022

Robotics Computer Surgery

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Background Transrectal prostate brachytherapy (BT) involves the permanent implantation of radioactive seeds through a needle, which must be inserted along a straight path to satisfy dose distribution requirements. However, this process is complicated by bevelled needle tips that can cause deflection during penetration. In clinical practice, physicians typically rotate the bevelled tip intermittently or apply manual correction forces near the insertion point, to reduce needle deflection. While assisted rotational insertion robots have made substantial progress in the past 20 years, tissue sticking can be caused by rotation of the bevelled tip and there are currently few studies on the use of corrective forces. As such, an auxiliary needle insertion guide for transrectal prostate BT, based on corrective forces, is investigated in this study for the first time. Methods The proposed BT guide is designed to reduce needle deflection and was experimentally verified by in vitro experiments. An energy‐based deflection model was developed to predict needle motion as corrective forces were applied during insertion. An experimental platform was constructed to perform corrective force‐assisted punctures, using the magnitude of the corrective force (A), the position of corrective force application (B) and the puncture speed (C) as test factors, with needle deflection as a test indicator. Design‐Expert 8.0.5b software was used for simulation, and a high‐definition camera acquired pictures of the needle tip as it pierced the tissue. A regression equation was also established for the test factors and test indicators, using Design‐Expert software. Optimal parameter combinations (A, B and C) were determined through optimization. Results Calculated needle deflection values were then compared with the measured position of the needle insertion point, producing an average error of 0.39 ± 0.28 mm. Deflection was as low as 0.8 mm using optimal puncture parameters Conclusions A needle‐tissue interaction model, considering tissue nonlinearity, which experimental results demonstrated to be highly accurate. Optimal puncture parameters effectively improved puncture accuracy.

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“…Several different types of compliant mechanisms have emerged over time: lever type [ 29 , 30 , 31 ], bridge type [ 32 , 33 , 34 ], and Scott-Russell type [ 35 , 36 ]. In this work, we employ the rhombus mechanism with elastic flexures, which is related to the bridge type mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Compliant Mechanism-Based Sensor for Large Strain Measurements Employing Fiber Optics

Shiryayev

Vahdati

Yap

et al. 2022

Sensors

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We propose a sensor design for measurement of large strains where direct application of a fiber optic strain gauge is impossible due to the stiffness mismatch between the optical fiber and the structure under test. The sensor design is based on a rhombus type compliant mechanism, which functions to attenuate input strain and transfer it to the ends of the sensing beam with the mounted optical strain gauge. We developed an analytical model of the sensor, which allows us to relate actuation forces, input displacement/strain, and output strain. The analytical model was verified with the finite element analysis and validated against an experimental prototype. The prototype sensor was able to handle input strains exceeding ±2.5 × 105 µε. Potential application areas of the proposed sensor include compliant elastomeric structures, wearables, and soft robotics.

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A type of symmetrical differential lever displacement amplification mechanism

Cited by 14 publications

References 9 publications

Design of stroke reduction mechanism based on differential principle

Design of stroke reduction mechanism based on differential principle

A needle deflection model with operating condition optimization for corrective force‐based needle guidance during transrectal prostate brachytherapy

Compliant Mechanism-Based Sensor for Large Strain Measurements Employing Fiber Optics

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