FEM-Based Mechanics Modeling of Bio-Inspired Compliant Mechanisms for Medical Applications
Yilun Sun, Dingzhi Zhang, Yuqing Liu, Tim C. Lueth
Abstract
Compliant mechanisms are widely used in the design of medical robotics and devices because of their monolithic structure and high flexibility. Many compliant mechanisms derive their design ideas from nature, since the structure of biological organisms sometimes offers a better solution than the conventional mechanisms. However, the bio-inspired structures usually have very complex geometries which cannot be easily modeled and analyzed using traditional methods. In this paper, we present a novel finite element method (FEM) based modeling framework in MATLAB to analyze the mechanics of different bio-inspired compliant mechanisms. Since the basic linear FEM formulation can only be employed to model small displacements of compliant mechanisms, a non-linear FEM formulation that integrates the modeling of large displacements, tendon-driven mechanisms and contact problems was implemented in the proposed framework to overcome the limitations. Simulations and experiments were also conducted to evaluate the performance of the modeling framework. Results have demonstrated the accuracy and plausibility of the proposed non-linear FEM formulation. Furthermore, the proposed framework can also be used to achieve structural optimization of bio-inspired compliant mechanisms.