Planar Four-Bar Motion and Path Generation with Order and Branching Conditions

Abstract

This work presents an optimization model for planar four-bar motion and path generation. This model includes the four-bar linkage kinematic model by Suh and Radcliffe⁽¹³⁾ as an objective function. This kinematic model allows for the direct minimization of the error between the prescribed and achieved coupler parameters while synthesizing the crank and follower links in a closed loop. Both order and branching conditions are included among the constraint equations.