Existing formulations predict the displacement and stresses in multi-body systems that result from known system parameters. In contrast, the proposed design methodology enables structured selection of system parameters necessary to produce desired elastic displacements, stresses, and frequencies. This design process involves the development of inverse design equations, the finite element analysis, and the design sensitivity equations to obtain converged solutions satisfying desired design constraints. Part 1 (Theory) considers the theoretical considerations involved. Part 2 (Applications) applies the methodology to design a four-bar linkage and a six-bar linkage.

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