Designing A Mechanism

A non-transitory computer readable storage medium having recorded thereon a computer program, the computer program including instructions for performing a computer-implemented method for designing a mechanism including rigid bodies and mechanical joints, the mechanism having parameters including dimensional parameters and positional parameters, the mechanism having a closure equation involving parameter values, the method comprising:

• obtaining input parameter values representing the mechanism in an input state, the input parameter values including input dimensional values;
• and
• determining output parameter values representing the mechanism in an output state, the output parameter values including output dimensional values, the determining including minimizing an objective function under constraints, the objective function penalizing a distance between the output dimensional values and the input dimensional values, the constraints including a first constraint representing verification of the closure equation by the output parameter values, and a second constraint representing mobility of the mechanism in the output state.

A system comprising:

• a processor coupled to a memory and a graphical user interface, the memory having recorded thereon a computer program, the computer program including instructions for designing a mechanism including rigid bodies and mechanical joints, the mechanism having parameters including dimensional parameters and positional parameters, the mechanism having a closure equation involving parameter values, that when executed by the processor causes the processor to be configured to:
• obtain input parameter values representing the mechanism in an input state, the input parameter values including input dimensional values, and
• determine output parameter values representing the mechanism in an output state, the output parameter values including output dimensional values, the processor is further configured to determine the output parameter values by being further configured to minimize an objective function under constraints, the objective function penalizing a distance between the output dimensional values and the input dimensional values, the constraints including a first constraint representing verification of the closure equation by the output parameter values, and a second constraint representing mobility of the mechanism in the output state.