A new approach to the design of rigid body guidance mechanisms is presented which makes it possible to synthesize a linkage to guide a body through prescribed positions while simultaneously minimizing each of its dynamic reactions. A nonlinear programming formulation is used which permits the simultaneous monitoring of kinematic error and changes in dynamic reactions as the mechanism design parameters are varied. The optimization routine adjusts these parameters to obtain an optimal balance between the competing objectives of maximizing kinematic accuracy and minimizing dynamic reactions. An application of this integrated design approach is shown.
|Original language||English (US)|
|Journal||American Society of Mechanical Engineers (Paper)|
|State||Published - Dec 1 1986|
All Science Journal Classification (ASJC) codes
- Mechanical Engineering