Technically muscles do not flex–only joints flex. Muscles contract, or shorten, to move the bones of your body and allow movement and locomotion.
You may be referring to what body builders do to show off. That is simply contracting both the agonist and antagonist muscles so that both look more prominent. That action is always happening every time you move–they just exaggerate it. The purpose is so that the agonist muscle doesn’t snap your joints–the antagonist always balances it.
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