Topology and dimensional synthesis of linkage mechanism based on the Constrained Superposition Method

Gradient search methods for linkage synthesis have difficulty on the design convergence due to the non-convexity and non-uniqueness characteristics on linkage design. Although evolutionary optimization approach can solve non-convex problems and produce multiple optimal solutions, it cannot be applied to linkage synthesis easily because a general and efficient method for mechanism analysis is not available. In order to automate the linkage synthesis process, a novel linkage analysis method, called the Constrained Superposition Method (CSM), is presented in this paper. The CSM is based on the concept of Finite Element Analysis. The CSM can analyze any linkage mechanism with Single-Input-Single-Output (SISO). To further improve the efficiency of evolutionary optimization process, two feasibility checks are introduced to ensure the connectivity and mobility. Finally, four linkage synthesis examples are presented and discussed to demonstrate the effectiveness of this method.