Dynamic Synthesis of Constraint Paths

Abstract

A class of dynamic synthesis problems is introduced which treats the determination of the constraint paths between specified positions for problems involving rigid body transfer. These paths are so determined as to optimize some quality of the dynamic behavior as the device moves under the action of external forces. A solution technique is presented which transforms the problem into an optimal control problem with the basic ideas being developed using a single link device with one unknown path. It is assumed that the resulting optimal paths could then be realized using existing methods of kinematic synthesis.