This paper presents a new dynamic design method, which is to controls the sharp changes of joint forces, through adjusting the distributing of masses of links itself. The masses, the center of mass and the moment of inertia of links are taken as the o...
This paper presents a new dynamic design method, which is to controls the sharp changes of joint forces, through adjusting the distributing of masses of links itself. The masses, the center of mass and the moment of inertia of links are taken as the optimum design variables. The multi-objective optimum design is carried out by using the nonlinear optimization technique. A small element method to form the shape of links from the optimized parameters is developed. The dynamic characteristics of optimized four-bar mechanism are also investigated.