Optimal synthesis of crank–rocker linkages for path generation using the orientation structural error of the fixed link

This paper introduces the concept of orientation structural error of the fixed link and presents a new optimal synthesis method of crank–rocker linkages for path generation. The orientation structural error of the fixed link effectively reflects the overall difference between the desired and generated paths, avoids making point-by-point comparison between the two paths, and requires no prescription of timing. The optimal synthesis model is set up based on the orientation structural error, and the global optimal solution is obtained by a genetic algorithm. The effectiveness of the proposed method has been demonstrated on two synthesis examples.