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首先对同时具有关节弹性和杆件柔性的平面柔性机器人动力学微分方程组的解法作了叙述，然后对关节弹性的指端误差和杆件柔性的指端误差的敏感性进行了研究并得出了结论。
Firstly, the solution to the dynamical system of differential equations of a planar flexible robot with both joint flexibility and rod flexibility is described. Then the sensitivity of the finger-tip error of the joint elasticity and the finger-tip error of the rod flexibility is studied and the results show Conclusion.