Abstract The paper proposes a novel type of Compliant Mechanism (CM) called Planar Compliant Parallelogram Mechanism (PCPM) for translational movement by synthesizing 8 compliant beams. Half of the beams are arranged in an inverted way while the other half of them are non-inverted, and both the inverted beams and non-inverted beams are arranged symmetrically. The arrangement empowers the mechanism to have a tensural-compresural characteristic with the robustness against beam buckling regardless of the high-payload direction. Moreover, the new mechanism introduces more design parameters than the traditional parallelogram mechanism, providing a broader design space for performance optimization. A nonlinear and analytical model of the mechanism was derived first depending on the Timoshenko Beam Constraint Model (TBCM) for quick design, followed by nonlinear FEA validation. Constraints and other conditions were determined beforehand to prepare for the comprehensive parameter analysis. Comprehensive analysis of geometric parameters was carried out for four single design objectives based on the aforementioned analytical model. It is shown that two types of optimized design were obtained from the parameter analysis where one design involves distributed compliance. Experimental testing was conducted to validate the primary motion stiffness of the distributed-compliance involved design.

中文翻译：

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一种新型平面柔性平行四边形机构的设计和非线性建模，具有一般的张压-抗压梁

摘要 本文提出了一种新型的柔顺机构（CM），称为平面柔顺平行四边形机构（PCPM），通过合成8个柔顺梁来实现平移运动。一半的光束倒置排列，另一半不倒置，倒置光束和非倒置光束均对称排列。该布置使该机构具有抗张抗压特性，并且无论高载荷方向如何都具有抗梁屈曲的鲁棒性。而且，新机制比传统的平行四边形机制引入了更多的设计参数，为性能优化提供了更广阔的设计空间。首先根据 Timoshenko 梁约束模型 (TBCM) 推导出该机构的非线性和分析模型，以便快速设计，其次是非线性 FEA 验证。预先确定约束和其他条件，为综合参数分析做准备。基于上述分析模型，对四个单一的设计目标进行了几何参数的综合分析。结果表明，从参数分析中获得了两种类型的优化设计，其中一种设计涉及分布式柔顺性。进行了实验测试以验证分布式合规性涉及设计的主要运动刚度。结果表明，从参数分析中获得了两种类型的优化设计，其中一种设计涉及分布式合规性。进行了实验测试以验证分布式合规性涉及设计的主要运动刚度。结果表明，从参数分析中获得了两种类型的优化设计，其中一种设计涉及分布式柔顺性。进行了实验测试以验证分布式合规性涉及设计的主要运动刚度。