并在此基础上通过改变模型参数，使该建模方法同样适用于解决平面多杆机构的运动可靠性问题。
On the basis of it, the method of establishing the mathematical model is also suitable for calculating the reliability of motion of plane multi bar linkages by changing the parameters of the model.
在此基础上研究了利用等式约束与不等式约束的惩罚函数法对平面多杆机构进行尺度最优综合的有关问题。
Some problems of optimum synthesis of planar multi-bar linkages are studied by the penalty function method with equality and inequality constraints.
基于平面机构运动学理论建立了五杆多直线导向机构运动学模型，提出了由各构件运动方程生成该机构动画的新方法，并在MATLAB平台上开发了该机构动画仿真程序。
Kinematic equation of five-bar mechanism with multi-straight-line locus was derived from the theory of mechanics, and animation simulation for the mechanism was programmed by MATLAB language.
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