机构运动副中的间隙大小往往不易精确测定，而且由于磨损等原因间隙的大小也是变化的，本文将间隙看作一个不确定量进行含间隙平面连杆机构的综合，使得设计出的机构具有良好的动力特性且对间隙大小具有比较小的敏感性，即设计结果具有较高的鲁棒性。 The size of gap in mechanism kinematics is often not easy to measure accurately, and the size of gap also varies due to wear and tear. In this paper, the gap is considered as an indefinite quantity to carry out the synthesis of mechanism with gap plane, which makes the designed mechanism have good Of the dynamic characteristics and the gap size has a relatively small sensitivity, that is, the design result has high robustness.