Simple method for the synthesis of 2D and 3D mechanisms with kinematic constraints
- Alba, J.A. 2
- Doblaré, M. 1
- Gracia, L. 1
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1
Universidad de Zaragoza
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2
Universidad de La Rioja
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ISSN: 0094-114X
Año de publicación: 2000
Volumen: 35
Número: 5
Páginas: 645-674
Tipo: Artículo
Otras publicaciones en: Mechanism and Machine Theory
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.