以一种3自由度并联柔索驱动机器人为研究对象，研究这种并联柔性系统的控制规律。
The control law of this kind of parallel flexible system is studied based on a 3-DOF parallel wire driven robot.
在此基础上得到了常用的直圆双轴柔性铰链转动柔度的设计计算公式。
And it also presented the rotation compliance equation of right circular double-axis flexure hinge which is popular used flexure hinge.
本文针对应用于空间多自由度微位移工作台的双轴柔性铰链机构进行研究，推导柔性铰链柔度计算公式。
This thesis researches on the double-axis flexure hinges which widely used in the space multi-DOF micro-displacement work stage, and presents the compliance equations for double-axis flexure hinges.
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