On mechanism design optimization for motion generation

A set of Burmester curves can represent an infinite number of planar four-bar motion generator solutions for a given series of prescribed rigid-body poses. Unfortunately, given such a vast number of possible mechanical solutions, it is difficult for designers to arbitrarily select a Burmester curve solution that ensures full link rotatability, produces feasible transmission angles and is as compact as possible. This work presents an algorithm for selecting planar four-bar motion generators with respect to Grashof conditions, transmission angle conditions and having the minimal perimeter value. This algorithm has been codified into MathCAD for enhanced analysis capabilities and ease of use. The example in this work demonstrates the synthesis of a compact planar, four-bar crank rocker motion generator with feasible transmission angles.