Dimensional Synthesis of a Slider-Crank Mechanism Based Heavy-Load Positioner

In order to meet the requirement of manufacturing large-scale ball-crown like parts, a new type Slider-crank Mechanism Based 2-dof Heavy-load Positioner is introduced in this paper. The mathematical model of the positioner is established. The kinematics problems are solved. The statics problem is solved and the analytic expression of the driving force is obtained. An optimal dimensional synthesis method is presented to optimize all the parameters of this positioner for a prescribed workspace with excellent mechanical performance. The algorithm is proposed to solve the optimization problem, which not only takes into account the structure constrains and driving force, but also the variable structural weight. The computational results demonstrated that the resulting method is very efficient and effective.