Simple method for the synthesis of 2D and 3D mechanisms with kinematic constraints

  1. Alba, J.A. 2
  2. Doblaré, M. 1
  3. Gracia, L. 1
  1. 1 Universidad de Zaragoza
    info

    Universidad de Zaragoza

    Zaragoza, España

    ROR https://ror.org/012a91z28

  2. 2 Universidad de La Rioja
    info

    Universidad de La Rioja

    Logroño, España

    ROR https://ror.org/0553yr311

Revista:
Mechanism and Machine Theory

ISSN: 0094-114X

Año de publicación: 2000

Volumen: 35

Número: 5

Páginas: 645-674

Tipo: Artículo

DOI: 10.1016/S0094-114X(99)00035-X SCOPUS: 2-s2.0-0033903659 WoS: WOS:000085743000003 GOOGLE SCHOLAR

Otras publicaciones en: Mechanism and Machine Theory

Repositorio institucional: lock_openAcceso abierto Editor

Resumen

A general procedure for the synthesis of mechanisms is presented here. This approach minimizes the error between the actual path of one or several points of the mechanism and the paths for each of them predefined by a certain number of points. It is also possible to consider kinematic constraints on velocity, acceleration and jerk. The optimization method uses a sequence of quadratic problems with an analytical definition of the objective function, constraints and their gradients, while the hessians are computed by finite differences.