An Algebraic Formulation of Grashof’s Mobility Criteria With Application to Linkage Optimization Using Gradient-Dependent Methods
- 1 September 1984
- journal article
- Published by ASME International in Journal of Mechanical Design
- Vol. 106 (3) , 327-332
- https://doi.org/10.1115/1.3267415
Abstract
Sets of constraints on analytic functions of linkage parameters, equivalent to those of Grashof’s mobility criteria, are derived. These inequalities represent necessary and sufficient mobility conditions for the input and the output links of planar 4R linkages, as well as for its coupler link. The application of the foregoing constraint relations to linkage optimization using gradient-dependent methods is shown with an example that is fully solved resorting to Newton-Raphson’s method and an interior penalty function.Keywords
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