Based on the physical meaning of the cow vector of Jacobian matrix, the necessary and sufficient condition to synthesis full-isotropic parallel mechanism was obtained.

• 以雅可比矩阵行向量的物理含义为基础，根据各向同性机构的数学定义，得到全局各向同性并联机构的充分必要条件，并以此为基础得到了全局各向同性的三自由度转动并联机构。