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讨论了单铰柔韧性机器人手臂在第一振频给定的条件下其体积的优化问题，主要采用阶梯折算法将问题归结为非线性规划问题，利用简约梯度法进行优化，并给出了一些具体实例．
The optimization of the volume of the single-arm flexible manipulator with the given first vibration frequency is discussed. The problem of the single-arm flexible manipulator is reduced to nonlinear programming problem by the method of step-by-step conversion. The simplified gradient method is used to optimize the model. Specific examples.