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机器人机构参数的优化设计是极其复杂的难题，提出用空间模型理论研究这一难题是一个有效的新方法。基于该理论，建立多种典型的并、串联机器人的空间模型，为基于性能评价指标设计机器人机构提供了一种有效而实用的工具，为实现机器人机构的计算机辅助优化设计提供了新的途径，是研究机器人ＣＡＤ新方法的基本理论。
The optimal design of robot mechanism parameters is an extremely complex problem. It is an effective and new method to study this problem by using space model theory. Based on this theory, the establishment of a variety of typical space models of parallel and serial robots provides an effective and practical tool for designing robot mechanisms based on performance evaluation indexes, which provides a new way for computer-aided optimization design of robot mechanisms. Is to study the basic theory of robot CAD method.