Synthesis of path-generating four-bar mechanisms is considered as an optimization problem under inequality constraints. The penalty function approach is used. The effects of clearances and tolerances in manufacture are considered in order to make sure that the inequality constraints are within the acceptable tolerance during the required motion. Modifications are introduced in the gradient method, and sequential unconstrained minimization techniques are used in the process of minimization. A typical example under various conditions is presented in order to study the effectiveness of the technique.

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