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应用时变模态展开方法建立了带滑移／转动铰的平面单连杆柔性机械臂的动力学模型并给出了动力响应的计算方法。对若干种特殊条件下的响应特性进行了分析，数值模拟和分析结果一致。最后本文给出了此类柔性机械臂动力响应的一些结论。
The dynamic model of planar single link flexible manipulator with slipping / rotating hinges was established and the calculation method of dynamic response was given using the time-varying modal expansion method. The response characteristics of several special conditions were analyzed, and the numerical simulation and analysis results were consistent. Finally, some conclusions about the dynamic response of such a flexible manipulator are given in this paper.