A general procedure based on exact gradient determination in dimensional synthesis of planar mechanisms

In this paper an approximate kinematic synthesis method is presented with general application to path generation, function generation and rigid-body guidance in planar multibody systems. The formulation proposed uses exact differentiation to obtain gradient elements, avoiding the use of numerical differentiation and improving the quality of the search direction. Furthermore, the method permits the use of a large number of prescribed precision points or poses allowing high accuracy in the definition of the trajectory.