Abstract: The concept of co-work of traditional cam or linkage mechanisms and electrical, pneumatic or hydraulic control systems is presented. The types and application fields of mechanism and control co-systems are listed, and then the co-design methods are analyzed. Finally, the research contents of the mechanism and control co-design theory are pointed out and its scientific and engineering significance are discussed.

Key words: Co-design, Control system, Mechanism, Friction, Loading, Mixed lubrication model, Numerical Simulation, Three-body interfac