中文摘要：

为了描述含大变形柔顺杆的柔顺机构的动力学特性,需要建立其动力学模型。利用有限元法描述柔顺杆件的变形,根据Lagrange方程建立了含大变形柔顺杆的柔顺机构的动力学方程。在此基础上,推导了柔顺机构中大变形柔顺杆上任意一点的应变的算法,计入了应变中的非线性应变项——附加拉压应变。以平行导向柔顺机构为例,将理论计算结果与实验结果进行对比和分析,相互验证了实验系统和理论模型的有效性和正确性。

英文摘要：

To obtain the dynamic characteristics of compliant mechanisms with large deflection compliant links, a dynamic model is proposed. The deformation of compliant links is formulated by using the finite element method, the dynamic equation of compliant mechanisms is developed based on Lagrange equation. Based on the proposed dynamic model of compliant mechanisms, an algorithm for calculating strain response of arbitrary point on compliant links is de- rived. Nonlinear terms of the strain are also reckoned in the algorithm. The experimental research on strain of compliant parallel -guiding mechanism is performed. The comparison between the experiment result and the theoretical result verifies the validity of the experiment system and theoretical model.