中文摘要：

为了解决现有的平面五杆机构的运动性能优化问题,以平面对称的五杆机构作为优化对象,以并联机构的雅克比条件数作为目标函数,采用非线性规划的遗传算法,对五杆机构的杆长进行优化.按照所得的五杆机构优化后的杆长,在MATLAB中进行了运动学仿真,并得到了优化前后五杆机构第三关节处的运动轨迹.进一步计算出优化前后的五杆机构的雅克比条件数,得到了相应图表.结果表明：所提出的优化算法可以有效地提高五杆机构的性能.

英文摘要：

In order to solve the kinematics performance optimization problem of planar five-bar mecha- nism, this paper optimizes the lengths of five-bar mechanism using symmetry plane five-bar mechanism as optimization object, the Jacobin condition number of parallel mechanism as the target function and the nonlinear programming genetic algorithm. According to the income of five-bar mechanism＇ s opti- mized length, this paper processes kinematics simulation in MATLAB and has got the trajectories of the five-bar mechanism＇s third joint before and after optimization. Jacobin condition number of five- bar mechanism is worked out. The corresponding charts before and after optimization after further cal- culation are obtained. Finally, the performance of five-bar mechanism is enhanced based on the opti- mization algorithm.