An optima l synthesis method of adjustable crank-rocker linkages for continuous path gener ation is put forward, which is based on the orientational structural error of th e fixed link.

• 在确定了可调节型曲柄摇杆机构的轨迹柔性的基础上，基于机架杆方向结构误差建立机构的优化综合模型，采用改进遗传算法获取综合结果。