Robust design of linkages. Synthesis by solving non-linear optimization problems.

This paper deals with the robust design of linkages, i.e. linkages with minimum sensitivity to variations in dimensions which may be induced by environment, operating conditions, manufacturing defects, aging, deterioration, etc. To account for variations, dimensions are considered as random variables, and a stochastic kinematic analysis is adopted which gives both mean performance and performance variation. Synthesis of robust mechanisms is obtained by solving non-linear optimization problems with non-derivative methods. The penalty function to be minimized in these problems essentially expresses the mathematical expectation of deviation from desired behaviour due to the effects of random variation of link lengths. An example of the synthesis of path generation mechanisms (both robust and non-robust) is given. © 1997 Elsevier Science Ltd.