The deformed energy method has shown to be a good option for dimensional synthesis of mechanisms. In this paper the introduction of some new features to such approach is proposed. First, constraints fixing dimensions of certain links are introduced in the error function of the synthesis problem. Second, requirements on distances between determinate nodes are included in the error function for the analysis of the deformed position problem. Both the overall synthesis error function and the inner analysis error function are optimized using a Sequential Quadratic Problem (SQP) approach. This also reduces the probability of branch or circuit defects. In the case of the inner function analytical derivatives are used, while in the synthesis optimization approximate derivatives have been introduced. Furthermore, constraints are analyzed under two formulations, the Euclidean distance and an alternative approach that uses the previous raised to the power of two. The latter approach is often used in kinematics, and simplifies the computation of derivatives. Some examples are provided to show the convergence order of the error function and the fulfilment of the constraints in both formulations studied under different topological situations or achieved energy levels.

翻译：变形能量法已被证明是机构尺寸综合的有效方法。本文提出对该方法引入若干新特性。首先，在综合问题的误差函数中引入约束条件以固定特定连杆的尺寸；其次，在变形位置分析的内层误差函数中纳入确定节点间距离的要求。采用序列二次规划（SQP）方法对整体综合误差函数与内部分析误差函数进行优化，这同时降低了支链或回路缺陷的概率。在内层函数中采用解析导数，而在综合优化中引入近似导数。此外，分别基于欧氏距离及其平方这两种形式对约束条件进行分析——后者在运动学中常用并简化了导数的计算。通过算例展示了误差函数的收敛阶次，并验证了两种约束公式在不同拓扑情形或能量水平下对约束条件的满足程度。