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层叠型弹性杆由橡胶片与刚性金属片相间组合而成．通过对３弹性杆ＲＣＣ手腕的受力与变形分析，进一步推导出手腕刚度矩阵中各元素和弹性杆中最大应力－应变的计算公式，为设计ＲＣＣ手腕主要构件尺寸和承载能力提供了理论依据．
Laminated elastic rod by the rubber sheet and rigid metal sheet made of the combination of phase. Based on the analysis of the force and deformation of the RCC wrist with 3 elastic rods, the formula of the maximum stress-strain in each element and the elastic rod of the wrist stiffness matrix is further deduced, which provides a theoretical basis for designing the dimensions and bearing capacity of the RCC wrist.