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This paper introduces a semi-analytic model that provides a simple and quick solution for analyzing large deflection beam-based flexure joints of various configurations. Such configurations consist of a beam-based flexure joint coupled with any rigid-link length. This model provides an accurate approximation of large deflection beam-based flexure joints achieving a deviation as low as 0.06% when compared to the finite-element results. Experimental results show that this model provides a simple and accurate solution that is essential for quick parametric studies and understandings on the beam-based flexure modules.