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以ＱＹ８０汽车起重机四轴转向摇臂机构为例，利用多刚体系统运动学理论对机构作了空间运动分析，建立了转向摇臂机构优化设计的数学模型，并用改进了的约束随机方向搜索法编写了优化设计的微机软件，并已应用于生产实践。
Taking QY80 truck crane four-axle steering rocker arm as an example, the space motion analysis of the mechanism was made by using multi-body system kinematics theory. The mathematical model of steering rocker arm mechanism optimization design was established and the modified constrained random direction search method was used Optimized design of the computer software, and has been used in production practice.