Certain kinematic design constraints can be derived based on requisite dynamic performance requirements of a mechanism. Perhaps a most suitable kinematic synthesis task related to dynamic performance is function generation involving the entire motion cycle of the mechanism. For this purpose the closed-form equation of a spatial slider-crank mechanism is used to obtain approximate equations separating the various harmonics of the crank angle. The approximate equation is in terms of harmonic functions of the crank angle containing coefficients in terms of the linkage geometry. Hence the approximate equations provide an analytical means of relating the harmonic content of the slider position/displacement to the mechanism dimension. The approximate equations are utilized to establish kinematic synthesis constraints that relate to the dynamic behavior of the mechanism. Conditions for optimum dynamic performance are obtained in explicit analytical form in terms of the spatial slider-crank mechanism dimension, and used to demonstrate kinematic synthesis for minimized higher harmonic content in the slider position; thereby reduction of the induced shaking forces.

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