“…According to the constraint conditions, each design variable is geometric parameters of planar mechanism, so it must meets the requirements of planar mechanism freedom movement and at the same time the basic requirements of pantograph work. Scope of every design variable which can be concluded as follows: This article is from the pantograph structure parameters to study the equivalent mass, so the formula of equivalent mass can be further simplified as: (10) In order to further obtain the optimal value of equivalent mass, combined with the budget law, again from the impact factors to consider, get the following formula: (11) Combined with operation boundary condition, according to the above mathematical model, applying the optimization toolbox of MATLAB language programming, the optimization results are worked out. In which large values: d, L 4 , L 2 , ã, smaller values: a, b, k, L 3 .…”