Abstract
Linkages at high operating speed will produce high inertia loads which cause joint forces acting on the turning pairs of linkage to suddenly change. Because of the slight clearance in the pair, this change of joint force will cause the separation and collision of paired elements. This is the major cause of vibration and noise in the mechanism. Therefore, it is important to control the magnitude and the sudden changes of the joint forces acting on the pair. A nonlinear optimization technique is used in this paper to control the joint force. The objective function with the magnitude and the direction of joint force is considered and minimized by redistributing masses of links. A new method for design of planar linkage using a finite set of small masses is shown. Some kinetic characteristics accompanying by the optimization of joint force are also shown.
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