Abstract This paper proposes dozens of One Rotational Constraint orientated Compliant Mechanisms (ORC CMs), mainly utilizing a newly proposed virtual rigid-body mechanism based replacement method and the existing positon space method. These ORC CMs have four types of configurations, including basic, transformed, parallel and serial configurations. The basic ORC CM has the simplest geometrical structure that forms the constituent component of the other configurations. Parametric kinetostatic (linear) models of these ORC CMs are derived for quick and insightful determinate synthesis/analysis toward optimization of the associated parameters to achieve the intended objectives, which can also promote further nonlinear modelling. The linear analytical results are in reasonable agreement with the FEA simulation results, over an approximate displacement range of ±10% of beam length for translations or ±0.08 rad for rotations. Some of the derived analytical models are also verified through experimental tests on one fabricated prototype of the parallel ORC CMs. The proposed ORC CMs along with the well-known slender wire beams play an important role on the synthesis of multi-DOF kinematic decoupled compliant mechanisms and the design of other instruments and robots such as continuum robots.

中文翻译：

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一种旋转约束导向柔顺机构的综合与建模

摘要 本文提出了几十种面向单一旋转约束的柔顺机构（ORC CMs），主要利用了一种新提出的基于虚拟刚体机构的置换方法和现有的位置空间方法。这些 ORC CM 有四种类型的配置，包括基本配置、转换配置、并行配置和串行配置。基本的 ORC CM 具有最简单的几何结构，它构成了其他配置的组成部分。导出这些 ORC CM 的参数动静力学（线性）模型，用于快速且有洞察力的确定性合成/分析，以优化相关参数以实现预期目标，这也可以促进进一步的非线性建模。线性分析结果与有限元模拟结果合理吻合，在平移的±10% 光束长度或旋转的±0.08 rad 的近似位移范围内。一些衍生的分析模型也通过对并行 ORC CM 的一个制造原型的实验测试进行了验证。所提出的 ORC CM 以及众所周知的细长线梁在多自由度运动学解耦柔顺机构的合成以及其他仪器和机器人（如连续机器人）的设计中发挥着重要作用。