本文以均匀投梭加速度，减小投梭动负荷为目的，用机构优化设计方法对投梭机构的侧板、投梭棒的截面尺寸和材料性能参数进行了优化设计；
The cross section and material properties of the loom's side lever and picking stick are designed with optimization method, and the picking mechanism is designed through dynamical routine.
建立并分析了投梭侧板的弹性体模型和控制系统的状态方程，提出了本系统能控性的系统等价理论。
An equivalent theorem for the controllability of the system is deduced and the optimal control point is determined.
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