The minimization of the dynamic reactions of high speed, variable input speed planar mechanisms is considered using multiobjective nonlinear programming techniques. A general procedure, which can easily incorporate variable angular velocity input, joint friction and external loading, is used for the dynamic analysis of the mechanisms. A goal programming approach is outlined for the solution of the optimization problem. This procedure is coupled with an exterior penalty function approach in developing the necessary computer program. An example four-bar linkage is considered for illustration. It is observed that the approach presented in this paper offers greater flexibility and wider application in the optimal balancing of high speed linkages.

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