【正文】 uter and information science, and artificial intelligence etc. It is one of the trends of modern mechan...更多 ism. Based on theory of traditional mechanisms, modern control theory, modern dynamics analysis theory, modern optimization theory, statistics analysis and advance posite mechanics, systemic studies on hybrid linkage mechanism are performed with an example of hybrid fivebar mechanismin this paper. The contributions achieved are suitable for the other types of hybrid linkage mechanism takes on the characteristic with multiple degreeoffreedom and multibar. Using classical techniques to derive the dynamics equations of hybrid mechanism can be a tedious and errorprone task. In this paper, dynamic analysis of hybrid fivebar mechanism was studied based on power bond graph for the first time. The kinematics and dynamics of the mechanism are represented in a form by pact graphics mode and concise notation. Thus, the understanding of the plex static and dynamic interactions within a hybrid mechanism is enhanced. The analyst may view the mechanismdynamics problem from a fresh perspectivea point of view that often provides new insights into the plex behavior of hybrid mechanism. The unified formula of mechanism dynamics equations derived here is a regularized one. The bond graph method lead to a form suitable for automatic derivation and putation. The procedure does not have to analyze acceleration of hybrid mechanism. In terms of physical parameters of hybrid five bar mechanism and necessary input matrix, the bond graphbased puter programs can automatically derive and solve the dynamic equations of mechanismdynamics problem on a puter, obviously enhancing efficiency and reliability of dynamics analysis for hybrid five bar mechanism is highly nonlinear and strong coupling flexible devices. From a point of view of system, the potential law in itself can be just opened out. In this paper, a global coupling dynamic model of a hybrid fivebar mechanism system is established by using power bond graph and power topobond graph for the first time. The hybrid system including multienergy fieldis represented in a form by pact graphics mode. The coupling properties are depicted and its effect are analysed from this model. The results of simulation show that a global coupling dynamic model of a hybrid fivebar mechanism is correct. The study shows that simulation results of global mathematical model are much closer to experimental results than that of isolated mathematical model. The proposed method may be monly applied to modeling and analysis of other controllable mechanism the bination of modern chaos optimization algorithm and the optimization Toolbox of programming language, hybrid optimization algorithm for nonlinear optimization design of hybrid mechanism is proposed. The better capability of the global search is acquired by using the algorithm proposed. Using the hybrid optimization algorithm, kinematics, dynamics and multi objective optimization design for hybrid fivebar mechanism are performed respectively on the base of the analysis of kinematics and dynamics. The results of optimization show that the better integrative performance of mechanism can be obtained by using multi objective optimization design which kinematic, dynamic characteristics and sensitivity of dimensions of links act as objective mechanism remains with position control following system. Position control accuracy of system determines the profile accuracy of hybrid actuator. Incorporating the grey prediction, repetitive control and the conventional PID control, a design method of the grey prediction repetitive PID control algorithm is presented for the first time. This control algorithm can be divided into three steps: to estimate unsure parameters and disturbance of system using grey prediction, to pensate PID control in terms of the prediction results, and then to add repetitive control for controlling cyclical motion. The simulation results show that this algorithm has better performances than that of the conventional repetitive control system. The control method has better application value for hybrid linkage mechanism taking on a characteristic of cyclical motion. In addition, The CMAC neural work control system is used in this paper. By means of the control system of hybrid driving linkage mechanism, following motion of high tracking precision can be obtained. Simulation results show that this method has better dynamic performance, robustness and antidisturbance than the traditional PID the better performance and the development of 3D braided posite, the damping and stiffness analysis of 2step hollowboxsection 3D braidedposite were performed in this paper. Then, the mathematical model for optimization of the damping and stiffness of bar were proposed. The results of numeral examples show that the better damping and stiffness characteristic could be obtained by using optimal design, contenting the determinate restriction. The method proposed here is useful for the design and engineering application of the kind of to the theoretical model proposed, the experimental equipments of the hybrid actuator realizing flexible output motions were set up. The correlative experiment examinations were made. The results of experiment tallies with simulative results of theories paratively, which proves that theories of this paper are correct. In addition, the parison experiments were performed for hybrid fivebar mechanism with ponents of six kinds of materials respectively. The materialsexamined were carbon constructional quality steel, aluminum alloy, nylon plastics, phenolic cotton cloth laminated, 3D braided posite and so on. The results of experiment show that the performance of system is improved obviously with the 3D braided posites. It is an a