The parametric design method considers the dynamic isotropy with a maximum controlled stiffness to evaluate the mechanism stability which will guarantee system stability in any environment.

• 从机构参数模型出发，以任意环境下可稳定达到的最大控制刚度来衡量机构的稳定性或稳定范围，并考虑各向同性，研究机器人参数设计理论与方法。