This paper presents a general method for treating nonassembly in the optimal synthesis of planar mechanisms. The synthesis is performed with gradient based optimization algorithms and the sensitivities are calculated analytically through the method of direct differentiation. The analysis is based on the well-established and general method of computational kinematics. In this study the residuals of the joint constraint equations are minimized rather than equated to zero. This makes it possible to perform the kinematic analysis for any proposed design even though it may not be possible to assemble the mechanism. Several examples are provided.
- Absolute coordinate
- Kinematic synthesis
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Computer Graphics and Computer-Aided Design
- Control and Optimization