In the most of works, the flexible joint is only predigested as a linear torsion spring. This is not sufficient to represent the dynamic character of flexible joint manipulator because of the complexity of actual joint.

但是在目前的研究中，通常仅仅简化柔性关节为线性扭转弹簧。

Two shape memory alloys actuated two-finger manipulators, which based on flexible joint, were developed.

③研制了两种以形状记忆合金驱动的，基于柔性铰链结构的双指型微机械手。

In chapter Five,the flexible joint mechanism was calculated with the finite element method,the orthogonal test method,and the regressive interpolation.

第五章运用有限元分析手段对微动工作台中的关键部件—柔性铰链的设计进行了详细的计算，并通过正交试验和回归分析得出其数学模型。