中文摘要：

建立一多层LEMs柔顺机构的一般伪刚体模型。基于LET铰链等效弹簧刚度模型，推导出LEMs输入载荷和输出角位移的一般理论计算公式。分析了影响机构角位移输出的主要结构参数，以及相同载荷下这些参数对角位移输出的影响趋势。根据分析结果，对机构实例的结构尺寸参数设计了一组初始值。通过实例的理论计算与有限元仿真，分析得到机构的LET外铰链扭转片段长度和宽度尺寸变化对角位移和误差的不同影响效果。

英文摘要：

A general pseudo-rigid-body model was built for multi-layered lamina emergent mechanisms （ LEMs ） . Based on the analogous linear coil spring model of lamina emergent torsional （ LET） joints, a general theoretical formula was derived to describe the relationship between the input load and the output angular displacement of LEMs. The main structural parameters influencing the output were analyzed, and their influence trends were studied in the same load case. According to analysis results, a set of initial values was designed to the structural parameters for an example of the mechanism. The effects of the length and width of LET joint torsional hinges on the angular displacement and error of the mechanism were discussed by theoretical calculations and finite element simulation.