首先叙述基于有限元的具有柔性关节与柔性杆的机械臂动力学模型的建立与求解，然后对于机械臂柔性关节与柔性杆的耦合特性进行研究．结果表明，在重载的情况下，柔性关节与柔性杆的耦合效应不容忽视 First, the establishment and solution of the mechanical model of a flexible manipulator with flexible joints and flexible rods based on the finite element method are described. Then, the coupling characteristics between the flexible joints and flexible rods are studied. The results show that the coupling effect between flexible joints and flexible rods can not be neglected under heavy load