INTEGRATED KINEMATIC AND DYNAMIC OPTIMAL SYNTHESIS OF SPATIAL MECHANISMS.

A. J. Kakatsios, Stephen Tricamo

Research output: Contribution to conferencePaperpeer-review

Abstract

A novel integrated technique permitting the simultaneous optimization of kinematic and dynamic characteristics in the synthesis of spatial mechanisms is shown. The nonlinear programming formulation determines mechanism variables which simultaneously minimize the maximum values of bearing reactions, joint torques, driving torque, shaking moment, and shaking force while constraining the maximum kinematic structural error to a prescribed bound. The method is applied to the design of a path generating RRSS spatial mechanism with prescribed input link timing. Dynamic reactions in the mechanisms synthesized using the integrated technique were substantially reduced when compared to those of a mechanism synthesized to satisfy only the specified kinematic conditions.

Original languageEnglish (US)
Pages181-190
Number of pages10
StatePublished - Dec 1 1987
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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