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提出一种被动柔顺ＲＣＣ装置用的圆柱形层叠弹性杆的结构形式，并针对橡胶弹性材料的静弹性特性，对弹性杆作了受力与变形分析、刚度矩阵计算和性能实验，为ＲＣＣ装置的设计提供了理论依据．
A kind of cylindrical laminated elastic rod for passive compliance RCC device was proposed. According to the static elasticity of rubber elastic material, the elastic rod was subjected to force and deformation analysis, stiffness matrix calculation and performance experiment. Design provides a theoretical basis.