本文介绍了一种新的约束非线性最优化方法-增广乘子法,并将这种方法应用于空间四杆机构的运动综合.文中例举了实现已知函数RSSR和实现已知轨迹RRSS两种典型机构的最优综合.计算结果表明,只要合理选择并调整罚因子γ与乘子λ,和一般外点罚函数法相比,计算效果明显要好. In this paper, we introduce a new constrained nonlinear optimization method-augmented multiplier method and apply this method to the motion synthesis of a four-bar spatial robot.In this paper, we implement a known function RSSR and a known trajectory RRSS The results show that as long as the penalty factor γ and the multiplier λ are reasonably selected and adjusted, the computational effect is obviously better than that of the general penalty function.