Based　on　the　pseudo-rigid-body　model　(PRBM),　a　new　2-Degree　of　freedom　pseudo-rigid-body　model　with　a　prismatic　pair　is　proposed.　The　axial　displacement　and　lateral　displacement　is　presented　by　the　prismatic　pair　and　revolute　pair,　respectively,　and　so　the　deflection　of　a　compliant　link　subject　to　a　combined　force　and　moment　loads　can　be　simulated.　The　PR　pseudo-rigid-body　model　of　planar　compliant　mechanism　is　developed.　A　three-dimensional　optimization　for　the　characteristic　radius　factors　and　a　linear　regression　method　for　the　spring　stiffness　coefficients　are　presented.　The　advantage　of　the　PR　pseudo-rigid-body　model　is　illustrated　numerically　through　the　comparison　with　the　1R,　2R　PRBM　models　and　compliant　link.　©2013　Journal　of　Mechanical　Engineering.