Abstract The pseudo-rigid-body (PRB) models have been widely applied for modeling of straight beams in compliant mechanisms. In this paper, a generalized PRB PPRR model with two mutually perpendicular linear springs is established for both straight and circular beams in compliant mechanisms. In the developed model, the static equations of the deflected beams are derived from Bernoulli’s equation. The characteristic parameters of the developed model are identified by the reasonably organized particle swarm optimization (PSO) algorithm. A simulation experiment of tip locus of a circular beam is conducted to evaluate the developed model. The simulation results show the developed model has higher accuracy than the PRB 2R, 3R, and RRHR model. In addition, two numerical examples are further implemented to demonstrate the effectiveness of the developed model.

中文翻译：

---

柔顺机构中直梁和圆梁的广义伪刚体 PPRR 模型

摘要 伪刚体（PRB）模型已广泛应用于柔顺机构直梁的建模。在本文中，针对柔顺机构中的直梁和圆形梁，建立了具有两个相互垂直的线性弹簧的广义 PRB PPRR 模型。在开发的模型中，偏转梁的静态方程是从伯努利方程导出的。所开发模型的特征参数通过合理组织的粒子群优化 (PSO) 算法进行识别。对圆形梁的尖端轨迹进行仿真实验以评估开发的模型。仿真结果表明，所开发的模型比 PRB 2R、3R 和 RRHR 模型具有更高的精度。此外，