<p>The folding mechanisms fabricated from rigid-flexible composite materials demonstrate remarkable advantages in terms of lightweight design, miniaturized dimensions, and simplified assembly procedures, making them highly promising for micro robots. Nevertheless, the distinctive thin-film composite architecture of these mechanisms presents considerable modeling difficulties when employing conventional analytical approaches for either rigid-body or compliant mechanisms. To overcome these challenges, a segmented equivalent rigid-flexible coupled model is developed, incorporating the unique material and joint characteristics of folding structures. This model facilitates kinematic and dynamic analyses, ultimately providing an accurate theoretical framework for mechanism optimization and motion control. A five-link micro-rotational stage fabricated via a folding process serves as a representative case to validate the correctness of the model through combining theoretical modeling, numerical simulations, and experimental characterization. The results demonstrate that the model effectively quantifies critical performance metrics, including motion range, actuation force, and operating modals. This theoretical paradigm presents a dual contribution to the analysis of millimeter-scale rigid-flexible coupled folding (mRFCF) mechanisms: it not only addresses the computational challenges intrinsic to nonlinear mechanics, but also establishes a comparative reference through the simulation environment and testing experiments, providing reliable validation for the model in evaluating the mechanical and motion characteristics of these mRFCF mechanisms.</p>