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本文运用有限元方法建立了考虑杆及关节柔性的多杆柔性机器人动力学微分方程，并对纽马克法进行修正，用来求解多杆柔性机器人的瞬态动响应，获得满意的结果。
In this paper, the finite element method is used to establish the dynamic differential equation of multi-rod flexible robot considering the flexibility of the rod and joint. The Newark method is modified to solve the transient dynamic response of the multi-rod flexible robot with satisfactory results.