A general computer-aided procedure is presented which combines the kinematic synthesis and dynamic design of four-bar mechanisms. This procedure utilizes nonlinear programming techniques, adjusting the arbitrary parameters in a kinematic synthesis to include performance criteria related to dynamic forces, as well as kinematics. In a particular example, optimum crank-rocker path generating mechanisms with prescribed timing are found based on objective functions related to shaking force, shaking moment, input torque fluctuation and bearing reactions. The optimization procedure results in a significant improvement in these dynamic characteristics.

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