Abstract
A probabilistic model of linkage mechanisms considering tolerances on the link lengths and clearances in the hinges is made. The random output function is expanded in Taylor series. The synthesis procedure considering both the linear and second order terms is shown. The synthesis problem is converted into a parametric programming problem. The results of the synthesis for planar four bar linkages, with linear and second order terms of Taylor series expansion, are given for normal and uniform probability density functions for the location of the pin centers inside the clearance circles of the hinges.
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