RESEARCH PAPERS: Mechanisms Papers

An Algebraic Formulation of Grashof’s Mobility Criteria With Application to Linkage Optimization Using Gradient-Dependent Methods

[+] Author and Article Information
J. Angeles, M. Callejas

Universidad Nacional Autonoma de Mexico, Mexico City, Mexico

J. Mech., Trans., and Automation 106(3), 327-332 (Sep 01, 1984) (6 pages) doi:10.1115/1.3267415 History: Received April 27, 1984; Online November 19, 2009


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.

Copyright © 1984 by ASME
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