A design combining kinematic and dynamic balancing considerations with bi-material links for four-bar linkages

A new design method of kinematic and dynamic integrated design for planar linkages is proposed in this paper. By properly designing the parameters of bi-material links that are composed of two kinds of materials, link dimensions and speed trajectory of the input link, the kinematic design requirements and expected dynamic balancing performance are satisfied. The dynamic design is by means of determining the link length proportion of occupation between the two different materials that had been selected on each movable link. The speed trajectory of the input link is designed with Bezier curves. Optimization is applied to find optimal design parameters for meeting kinematic and dynamic design requirements and constraints. Examples of four-bar linkages are given to demonstrate the feasibility of this approach.

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