The optimum synthesis of multiloop planar mechanisms for the generation of paths and rigid-body positions employing the linear partition of the design equations is presented. Design equations and their applications for the optimum synthesis of the three distinct types of the Stephenson’s six-bar mechanism for the generation of paths and rigid-body positions are presented. The optimum sets of dimensions of a mechanism are determined by minimizing the error in the loop-closure equation of the path dyad and of the loops of the mechanism. Design equations having nine to twelve unknown dimensions are presented. Industrial applications of the design equations are illustrated with design examples.

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