Kinematic Synthesis for Linkages with Velocity Targets

A gradient-based optimization method for designing linkages with velocity targets is described. Two theoretical application cases are established for four-bar linkage. In the first, a constant-velocity module is proposed for a point on the coupler. In the second, the goal is the velocity components. These cases are studied with and without coordination with the input link. The results obtained are compared with another gradient-based approach, and show that the method works efficiently for these types of target.