中文摘要：

基于伪刚体模型的原理，综合考虑柔顺机构中柔性构件的横向变形和轴向变形的影响，提出了带移动副的伪刚体新模型．用移动副和转动副分别描述构件的轴向位移和横向位移，建立了柔顺机构的PR伪刚体模型．通过三维搜索得出了模型的最优特征半径系数，应用线性回归方法得到了模型的刚度系数．通过数值模拟将新的伪刚体模型与1R、2R伪刚体模型以及柔顺杆进行对比，证明了PR模型的优越性．

英文摘要：

Based on the pseudo-rigid-body model（PRBM） , a new pseudo-rigid-body model with prismatic pair is proposed considering the effects of transverse deformation and axial deformation of flexible elements in compliant mechanisms. The prismatic pair and revolute pair describe axial displacement and lateral displacement of flexible element, respectively. The PR pseudo-rigid-body model of compliant mechanisms is set up. A three-dimensional optimization for the optimal characteristic radius factors and a linear regression for the spring stiffness coefficient are presented. The advantage of the new model is illustrated numerically through the comparisons with the 1R, 2R models and compliant link.