中文摘要：

基于伪刚体模型法，分析研究了平面柔顺机构的驱动特性问题。以平面柔顺四杆机构为研究对象，建立其伪刚体模型。通过对该模型的动力学分析，得到了一种柔顺机构驱动力矩计算的新方法。算式表明柔顺机构的驱动特性与机构中柔性铰链之间存在着内在关系。根据算例分析结果可知，通过改变柔性铰链的刚度以及各柔性铰链未变形时的初始位置能减小机构的最大驱动力矩。

英文摘要：

Driving characteristics of planar compliant mechanisms were studied based on the pseudo -rigid-body model herein. A planar four-bar compliant mechanism was taken as an example to analyze, the pseudo-rigid-body model of this mechanism was developed at first. A new method for calculating the driving torque was then obtained based on the dynamic analysis of compliant mechanism, and it shows that the flexible hinges have impact on the driving characteristics of compliant mechanisms. The results of example indicate that the peak driving torque is minimized by modifying the stiffness and the unstrained positions of the flexure hinges.