Abstract
In a broad class of planar assemblies the angular positions of their sub-linkages are advantageously examined as design variables selected to meet a range of alternative criteria; namely, to minimize the root mean square (rms) shaking force in any of assembly, to minimize the crankshaft bearing load in assemblies of sub-linkages joined in parallel, or to relocate the center of the rms shaking moment to their common fixed pivot. Comparative studies based on the best/worst angular spacing showed a considerable reduction of the dynamic factors, and that a substantial further improvement might be produced by a modest counterweight.
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