中文摘要：

设计了一种六杆柔顺机构，建立了该机构的伪刚体模型，伪刚体模型显示该机构由两个柔顺滑块机构串联而成．根据伪刚体模型对该六杆柔顺机构进行了变形分析，推导出六杆柔顺机构伪刚体模型的力一位移关系的一般理论计算公式，进而得到该机构实例的分析结果．用ANSYS软件对该设计实例进行了力一位移关系的有限元仿真分析，同时加工制造出该设计实例的实物模型并进行了实验测量．对理论计算结果、仿真分析结果和实际测量结果进行了比较，三种方法所得结果基本一致，表明了理论公式的推导与分析是正确的，仿真建模分析也是正确的，并且该实例的设计是可行的，达到了设计目的．

英文摘要：

A six-bar full-compliant mechanism was designed, and its pseudo-rigid-body model was established, which shows that it is composed of two compliant slide mechanisms. Deformation analysis of the full-compliant mechanism was performed according to the pseudo-rigid-body model, and a theoretical formula of force and displacement was deduced for the pseudo-rigid-body model. An example was presented to embody the full-compliant mechanism, and its relationship of force and displacement was numerically analyzed using ANSYS software. Meantime, a physical model of this example was manufactured for experimental measurement. By comparing the results of theoretical calculation, simulation analysis and actual measurement~ it can be concluded that the results of the three methods are basically the same, indicating that the theoretical derivation and analysis of the formula is correct, the simulation analysis is precise, and the design of the example is feasible to achieve the design goal.