精密机械运动学结构设计方法以自由度和约束的视角统一处理机械设计问题,是重要的机械设计方法之一。文中综述了运动学设计的发展背景及最新进展,主要包括精确约束的概念、基本方法、自由度约束拓扑理论及其在柔性机构构型综合方面的应用。这些新进展有助于设计师设计出新型机械装置,具有很好的应用前景。 Precision Mechanical Kinematics Structural Design Method One of the important mechanical design methods is the uniform handling of mechanical design problems from the perspective of freedom and constraints. In this paper, the development background and the latest development of kinematics design are summarized, including the concept of precise constraints, basic methods, topological theory of degrees of freedom constraints and its application in the synthesis of flexible mechanisms. These new developments help designers to design new mechanical devices with good application prospects.