Planar Four-Bar Motion and Path Generation with Order and Branching Conditions

This work presents an optimization model for planar four-bar motion and path generation. This model includes the four-bar linkage kinematic model by Suh and Radcliffe(13) as an objective function. This kinematic model allows for the direct minimization of the error between the prescribed and achieved coupler parameters while synthesizing the crank and follower links in a closed loop. Both order and branching conditions are included among the constraint equations.