Abstract
In this paper a general method for dimensional synthesis of both planar and spatial mechanisms is presented. The method addresses the problem of non-assembly. A gradient based optimization algorithm is employed and the sensitivities are calculated analytically using the method of direct differentiation. A well established and general method of computational kinematics is employed, in a slightly modified variant, to avoid the problem of non-assembly. The modification consists of a minimization of the residuals of the kinematic constraint equations, rather than equating them to zero. The point-coordinate formulation is applied. Several examples are provided.
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