Four Bar Linkage Optimization in Simscape

Four-bar linkage lengths are optimized using MATLAB to follow a desired trajectory.

This example shows a four-bar linkage modeled in Simscape Multibody that is optimized using MATLAB so that the tip of the linkage follows a desired trajectory.

Mechanical designers often wish to design mechanisms that will enable an end effector to follow a certain path. The lengths of the links and the position of the end effector influence the trajectory of the end effector in a complex kinematic relationship. Optimization algorithms can be used to tune those lengths to achieve the desired motion.

The process is similar to what is described in the video “Computational Design of Mechanical Characters” https://www.youtube.com/watch?v=DfznnKUwywQ

In this example, a parameter sweep is performed to see which trajectories are possible when varying a subset of the lengths. Then those lengths are tuned using MATLAB optimization algorithms until the resulting trajectory is within tolerances of the desired trajectory.

Please read the README.md file to get started.

Use the "Download from GitHub" button above to get files compatible with the latest release of MATLAB.
Use the links below to get files compatible with earlier releases of MATLAB.

For R2020a: https://github.com/mathworks/Simscape-Multibody-Four-Bar-Optim/archive/20.1.2.1.zip
For R2019b: https://github.com/mathworks/Simscape-Multibody-Four-Bar-Optim/archive/19.2.2.0.zip
For R2019a: https://github.com/mathworks/Simscape-Multibody-Four-Bar-Optim/archive/19.1.1.4.zip
For R2018b: https://github.com/mathworks/Simscape-Multibody-Four-Bar-Optim/archive/18.2.1.3.zip
For R2018a: https://github.com/mathworks/Simscape-Multibody-Four-Bar-Optim/archive/18.1.1.2.zip
For R2017b: https://github.com/mathworks/Simscape-Multibody-Four-Bar-Optim/archive/17.2.1.1.zip
For R2017a: https://github.com/mathworks/Simscape-Multibody-Four-Bar-Optim/archive/17.1.1.0.zip

See how to use Simscape Multibody to model a cam-follower mechanism:
https://www.mathworks.com/videos/modeling-contact-forces-in-a-cam-follower-94291.html

Learn more about multibody simulation with Simscape Multibody by watching this webinar
https://www.mathworks.com/videos/multibody-simulation-with-simmechanics-81877.html

Find other Simscape examples by searching posts for the keyword "physical modeling"
https://www.mathworks.com/matlabcentral/fileexchange/?term=%22physical+modeling%22

Learn more about MathWorks Simscape Products:
https://www.mathworks.com/physical-modeling/