The joint uses the spring-beam as a flexible framework, and the expandable cylindrical bellows elastomers by air pressure are used as a muscle.

此关节采用板弹簧为柔性骨架，波壳弹性体受气压后轴向膨胀作为肌肉动力。

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It was modeled with 102,109 nodes and 109,834 elements, including beam, shell, solid and spring elements.

整个模型共有102,109个节点，109,834个单元，包括壳单元，体单元、梁单元、弹簧单元等单元类型。

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So from this discussion, it should be clear that the cantilever beam frequencies can only shift so far when a spring is considered at the tip of the beam.

那么综上所述，很显然，当在梁的顶部考虑一个弹簧时，悬臂梁的频率仅能迁移这么多。

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