根据宏微系统质量块模型的根轨迹图和伯德图，来研究质量块系统的稳定性问题。通过改变原模型参数值来观察动力学软件模拟仿真结果，最终得到宏微机械臂末端的误差曲线，总结结构参数和物理参数对宏微机械臂系统的影响(the stability of mass block system is studied according to the root locus diagram and Bode graph of the mass block model of macro and micro system. B