Integrated optimal design of flexible mechanism and vibration control

A method of simultaneous optimal design of flexible mechanisms and control with multiple frequency constraints based on the independent modal space control theory is proposed. Firstly, the performance index for simultaneous mechanism and control design is discussed. Secondly, an integrated optimal design algorithm is developed on the basis of Kuhn–Tucker optimality criteria, in which three damping factors are introduced to guarantee the algorithm that possesses good stability and convergence. Finally, numerical simulations are carried out on a path generating mechanism. Simulation results show that the performance of the control input is improved significantly after integrated optimization.