Abstract
Abstract A design method for selecting system parameters of multi-degree-of-freedom mechanisms for near minimum time motions along specified paths is presented. The time optimization problem is approximated by a simple curve fitting procedure that fits, what we call, the acceleration lines to the given path. The approximate cost function is explicit in the design parameters, facilitating the formulation of the design problem as a constrained optimization. Examples for optimizing the dimensions of a five-bar planar mechanism demonstrate close correlation between the approximate and the exact solutions and better computational efficiency than the previous unconstrained optimization methods.
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