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介绍了有关机器人灵活性的概念；推导了ＲＶ－Ｍ１型机器人的雅可比矩阵；用求最小条件数的方法确定了该型机器人终端执行件的最佳长度；求出了最佳工作点及最大灵活工作角αｍａｘ。
The concept of robot flexibility was introduced. The Jacobian matrix of RV-M1 robot was deduced. The optimal length of the actuator was determined by the method of finding the minimum number of conditions. The optimal working point and maximum Flexible working angle αmax.