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Dimensional Synthesis of Spatial Mechanisms and the Problem of Non-Assembly

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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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Authors and Affiliations

  1. NKT Flexibles I/S, Priorparken 510, DK-2605, Broendby, Denmark

    O. F. Jensen

  2. MAN B&W Diesel A/S, Teglholmsgade 41, DK-2450, Copenhagen, SV, Denmark

    J. M. Hansen

Authors
  1. O. F. Jensen
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  2. J. M. Hansen
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Correspondence to O. F. Jensen.

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Jensen, O.F., Hansen, J.M. Dimensional Synthesis of Spatial Mechanisms and the Problem of Non-Assembly. Multibody Syst Dyn 15, 107–133 (2006). https://doi.org/10.1007/s11044-005-9000-4

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  • DOI: https://doi.org/10.1007/s11044-005-9000-4

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