制造系统柔性的研究起来越受到人们的关注。柔性和生产率、生产费用，生产质量一起被认为是现代制造系统的关键性特征。自七十年代末以来，许多研究者对制造系统柔性进行了研究。本文对这些研究进行了详细综述和分类，并就各类研究的特点和存在的问题进行了讨论。 The research on the flexibility of manufacturing system gets more and more attention. Flexibility and productivity, production costs, and quality of production are considered key features of modern manufacturing systems. Since the late 1970s, many researchers have studied the flexibility of manufacturing systems. In this paper, a detailed review and classification of these studies are carried out, and the characteristics of each type of research and the existing problems are discussed.