Dynamic modeling of compliant mechanisms based on the pseudo-rigid-body model

Based on the principle of dynamic equivalence, a new dynamic model of compliant mechanisms is developed using the pseudo-rigid-body model. The dynamic equation of general planar compliant mechanisms is derived. The natural frequency of a compliant mechanism is obtained in the example of a planar compliant parallel-guiding mechanism. The numerical results show the effectiveness and advantage of the proposed method compared with the methods of FEA and flexible mechanisms.