中文摘要：

基于伪刚体模型，综合考虑柔性杆的横向变形和轴向变形的影响，建立了末端受力作用下柔顺机构的PR伪刚体动力学模型，应用拉格朗日方程推导了其动力学方程。从方程特征、响应曲线等方面显示了PR伪刚体动力学模型的性能变化。数值分析结果表明：PR伪刚体模型引入了P副来模拟柔性杆件的轴向运动，可以更真实地体现出柔顺机构的动力学特性，更适合于柔顺机构的动力学分析与设计。

英文摘要：

Based on the pseudo-rigid-body model （PRBM）, a PR pseudo-rigid-body dynamic model （PRBDM） subjected to a force at the end was developed considering the effects of transverse deformation and axial deformation of flexible elements in compliant mechanisms comprehensively. The dynamic equation of the PR PRBDM was derived by using the Lagrange equation. The changes of performances of the PR PRBDM were showed in the equation feature and dynamic responses. The numerical analysis results indicate that the PR PRBDM proposed can be used to show the real dynamic characteristic of compliant mechanisms by introducing a prismatic pair to simulate the axial movement of flexible elements in compliant mechanisms and was suitable for the dynamics analysis and design of compliant mechanisms.