In this paper, we describe the use of turning functions to compare errors between the coupler and the target paths. The main reason to use turning functions is that the measured error does not depend on the mechanism scale or the position and rotation of the fixed link. Therefore, the searching space for the optimization algorithm is reduced. To carry out mechanism synthesis, we use an evolutionary algorithm. The effectiveness of the proposed method has been demonstrated in five synthesis examples.
Issue Section:
Design of Mechanisms and Robotic Systems
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