对二连杆机器人手臂在水平状态下仅考虑总的动能，而忽略由于手臂挠曲变形而产生的位能变化。
For the two-bar robot arm, we focus merely the whole kinetic energy at horizontal condition, and neglect the change of potential energy due to the bending deflection of the robot arm.
针对宏微进给系统，利用弹性铰的微变形原理设计了宏微系统中的微动台。采用最小位能原理推导出一般弹性铰的二维刚度矩阵；
For the system of macro micro-feed table, a micro-feed table in macro-micro dual system was designed by using of flexure hinge.
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