采用面向控制的集成设计方法来进行面向控制的混合驱动五杆机构设计，建立了集成设计的优化设计模型，利用微分进化算法对该优化模型进行优化。

• the DFC synthetic methodology involves the integration of both mechanism and control design is applied to the design of planar five-bar mechanism. Having established the integrative optimization model, differential evolution algorithms search the solution space of the objection function.