{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,4,6]],"date-time":"2024-04-06T00:43:24Z","timestamp":1712364204392},"reference-count":61,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2024,3,4]],"date-time":"2024-03-04T00:00:00Z","timestamp":1709510400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,4]]},"abstract":"Abstract<\/jats:title>Accurate prediction for mechanisms\u2019 dynamic responses has always been a challenging task for designers. For modeling easiness purposes, mechanisms\u2019 synthesis and optimization have been mostly limited to rigid systems, making consequently the designer unable to vow that the manufactured mechanism satisfies the target responses. To address this limitation, flexible mechanism synthesis is aimed in this work. Two benchmark mechanisms being the core of myriad mechanical devices are of scope, mainly, the flexible slider-crank and the four-bar. In addition to the mechanism dimensions, materials properties have been embedded in the synthesis problem. Two responses are of interest for the slider-crank mechanism, the slider velocity, and the midpoint axial displacement for the flexible connecting rod. Whereas five responses have been compiled for the four-bar mechanism synthesis. A comparative analysis of seven optimization techniques to solve the synthesis problem for both mechanisms has been performed. Subsequently, an executable computer-aided design tool for mechanisms synthesis has been developed under MATLAB\u00ae. Numerical outcomes emphasize the limits of a single-response-based synthesis for a flexible mechanism. It has been proven that combining different responses alleviates possible error and fulfill high-accuracy requirement.<\/jats:p>","DOI":"10.1017\/s0263574724000171","type":"journal-article","created":{"date-parts":[[2024,3,4]],"date-time":"2024-03-04T09:03:25Z","timestamp":1709543005000},"page":"1172-1211","source":"Crossref","is-referenced-by-count":0,"title":["Computer-aided design tool for typical flexible mechanisms synthesis by means of evolutionary algorithms"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"http:\/\/orcid.org\/0000-0002-8748-9296","authenticated-orcid":false,"given":"Mohamed Amine","family":"Ben Abdallah","sequence":"first","affiliation":[]},{"given":"Imed","family":"Khemili","sequence":"additional","affiliation":[]},{"given":"Nizar","family":"Aifaoui","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0000-0003-0797-7669","authenticated-orcid":false,"given":"Med Amine","family":"Laribi","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2024,3,4]]},"reference":[{"key":"S0263574724000171_ref34","doi-asserted-by":"crossref","first-page":"223","DOI":"10.1504\/IJVD.2019.109866","article-title":"Multi-surrogate-assisted metaheuristics for crashworthiness optimisation","volume":"80","author":"Bureerat","year":"2019","journal-title":"Int. J. Vehicle Des."},{"key":"S0263574724000171_ref60","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1017\/S0263574709005700","article-title":"Optimal design of manipulator parameter using evolutionary optimization techniques","volume":"28","author":"Rout","year":"2010","journal-title":"Robotica"},{"key":"S0263574724000171_ref55","doi-asserted-by":"crossref","first-page":"138","DOI":"10.1016\/j.mechmachtheory.2016.02.006","article-title":"A new design methodology for four-bar linkage mechanisms based on derivations of coupler curve","volume":"100","author":"Kim","year":"2016","journal-title":"Mech. Mach. Theory"},{"key":"S0263574724000171_ref61","doi-asserted-by":"crossref","first-page":"104604","DOI":"10.1016\/j.mechmachtheory.2021.104604","article-title":"An open-source tool for path synthesis of four-bar mechanisms","volume":"169","author":"Torres-Moreno","year":"2022","journal-title":"Mech. Mach. Theory"},{"key":"S0263574724000171_ref56","doi-asserted-by":"crossref","first-page":"1947","DOI":"10.1017\/S0263574723000231","article-title":"Path planning of patrol robot based on modified grey wolf optimizer","volume":"41","author":"Zhang","year":"2023","journal-title":"Robotica"},{"key":"S0263574724000171_ref21","doi-asserted-by":"crossref","first-page":"2690","DOI":"10.1177\/0954406216638887","article-title":"A new differential evolution algorithm with a combined mutation strategy for optimum synthesis of path-generating four-bar mechanisms","volume":"231","author":"Lin","year":"2017","journal-title":"Proc. Inst. Mech. Eng. C J. Mech. Eng. Sci."},{"key":"S0263574724000171_ref28","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1080\/15397734.2015.1035784","article-title":"Kinematics and workspace-based dimensional optimization of a novel haptic device for assisted navigation","volume":"44","author":"Roberts","year":"2016","journal-title":"Mech. Based Des. Struct. Mach."},{"key":"S0263574724000171_ref42","first-page":"1","article-title":"Dynamic analysis of planar elastic mechanisms using the dyad method","volume":"217","author":"Romdhane","year":"2003","journal-title":"Proc. Inst. Mech. Eng. Part K J. Mult. Dyn."},{"key":"S0263574724000171_ref44","first-page":"1","volume-title":"Computer-aided analysis of mechanical systems","author":"Nikravesh","year":"1988"},{"key":"S0263574724000171_ref27","doi-asserted-by":"crossref","first-page":"483","DOI":"10.1080\/15397734.2017.1362565","article-title":"Near perfect path generation of corners chamfered rectangle and single synthesis cam-link mechanism to generate special-slot path","volume":"46","author":"Ajith Kumar","year":"2018","journal-title":"Mech. Based Des. Struct. Mach."},{"key":"S0263574724000171_ref3","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1016\/j.mechmachtheory.2016.05.018","article-title":"Conceptual design and dimensional synthesis of cam-linkage mechanisms for gait rehabilitation","volume":"104","author":"Shao","year":"2016","journal-title":"Mech. Mach. Theory"},{"key":"S0263574724000171_ref51","doi-asserted-by":"crossref","unstructured":"[51] Atashpaz-Gargari, E. and Lucas, C. , \u201cImperialist Competitive Algorithm: An Algorithm for Optimization Inspired by Imperialistic Competition,\u201d In: 2007 IEEE Congress on Evolutionary Computation, Singapore (IEEE, 2007) pp. 4661\u20134667.","DOI":"10.1109\/CEC.2007.4425083"},{"key":"S0263574724000171_ref22","doi-asserted-by":"crossref","first-page":"1019","DOI":"10.1017\/S0263574718000218","article-title":"A survey of formation control and motion planning of multiple unmanned vehicles","volume":"36","author":"Liu","year":"2018","journal-title":"Robotica"},{"key":"S0263574724000171_ref26","doi-asserted-by":"crossref","first-page":"945","DOI":"10.1017\/S0263574718000188","article-title":"Trajectory generation and step planning of a 12 DoF biped robot on uneven surface","volume":"36","author":"Gupta","year":"2018","journal-title":"Robotica"},{"key":"S0263574724000171_ref45","first-page":"1","volume-title":"Advanced Mechanism Design: Analysis and Synthesis","author":"Sandor","year":"Prentice Hall Inc, Englewood Cliffs, NJ, 1988"},{"key":"S0263574724000171_ref1","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1016\/j.mechmachtheory.2015.08.010","article-title":"Coupler-curve synthesis of four-bar linkages via a novel formulation","volume":"94","author":"Bai","year":"2015","journal-title":"Mech. Mach. Theory"},{"key":"S0263574724000171_ref9","doi-asserted-by":"crossref","first-page":"403","DOI":"10.1007\/s00158-010-0500-3","article-title":"Optimal synthesis of planar mechanisms via an extensible-link approach","volume":"42","author":"Collard","year":"2010","journal-title":"Struct. Multidiscip. Optimiz."},{"key":"S0263574724000171_ref41","doi-asserted-by":"crossref","first-page":"233","DOI":"10.1017\/CBO9781107337213","volume-title":"Dynamics of Multibody Systems","author":"Shabana","year":"2013"},{"key":"S0263574724000171_ref57","doi-asserted-by":"crossref","first-page":"1159","DOI":"10.1017\/S0263574722001606","article-title":"Robust PID optimal tuning of a Delta parallel robot based on a hybrid optimization algorithm of particle swarm optimization and differential evolution","volume":"41","author":"Pak","year":"2023","journal-title":"Robotica"},{"key":"S0263574724000171_ref30","doi-asserted-by":"crossref","first-page":"336","DOI":"10.1515\/mt-2020-0049","article-title":"Conceptual comparison of the ecogeography-based algorithm, equilibrium algorithm, marine predators algorithm and slime mold algorithm for optimal product design","volume":"63","author":"Y\u0131ld\u0131z","year":"2021","journal-title":"Mat. Test."},{"key":"S0263574724000171_ref36","doi-asserted-by":"crossref","first-page":"871","DOI":"10.1007\/s00366-020-01268-5","article-title":"A novel chaotic Henry gas solubility optimization algorithm for solving real-world engineering problems","volume":"1","author":"Y\u0131ld\u0131z","year":"2022","journal-title":"Eng. Comput."},{"key":"S0263574724000171_ref33","doi-asserted-by":"crossref","first-page":"e12666","DOI":"10.1111\/exsy.12666","article-title":"Robust design of a robot gripper mechanism using new hybrid grasshopper optimization algorithm","volume":"38","author":"Yildiz","year":"2021","journal-title":"Expert Syst."},{"key":"S0263574724000171_ref43","doi-asserted-by":"crossref","first-page":"1359","DOI":"10.1016\/j.compstruc.2004.03.031","article-title":"Revolute joints with clearance in multibody systems","volume":"82","author":"Flores","year":"2004","journal-title":"Comput. Struct."},{"key":"S0263574724000171_ref31","doi-asserted-by":"crossref","first-page":"38","DOI":"10.1504\/IJVD.2020.114779","article-title":"Robust design of electric vehicle components using a new hybrid salp swarm algorithm and radial basis function-based approach","volume":"83","author":"Yildiz","year":"2020","journal-title":"Int. J. Vehicle Des."},{"key":"S0263574724000171_ref29","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1515\/mt-2020-0022","article-title":"A new hybrid taguchi-salp swarm optimization algorithm for the robust design of real-world engineering problems","volume":"63","author":"Yildiz","year":"2021","journal-title":"Mat. Test."},{"key":"S0263574724000171_ref14","doi-asserted-by":"crossref","first-page":"011003","DOI":"10.1115\/1.2959094","article-title":"A comparative study of the formulations and benchmark problems for the topology optimization of compliant","volume":"1","author":"Deepak","year":"2009","journal-title":"J. Mech. Robot."},{"key":"S0263574724000171_ref53","first-page":"71","volume-title":"Modern Heuristic Optimization Techniques, Theory and Applications to Power Systems","author":"El-Hawary","year":"2008"},{"key":"S0263574724000171_ref11","doi-asserted-by":"crossref","first-page":"1316","DOI":"10.1016\/j.mechmachtheory.2011.04.002","article-title":"Synthesis of function generating spherical four bar mechanism for the six independent parameters","volume":"46","author":"Alizade","year":"2011","journal-title":"Mech. Mach. Theory"},{"key":"S0263574724000171_ref8","doi-asserted-by":"crossref","first-page":"28","DOI":"10.1016\/j.mechmachtheory.2017.10.013","article-title":"Non-integer-period motion generation of a planar four-bar mechanism using wavelet series","volume":"121","author":"Sun","year":"2018","journal-title":"Mech. Mach. Theory"},{"key":"S0263574724000171_ref35","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1504\/IJVD.2020.114786","article-title":"Slime mould algorithm and kriging surrogate model-based approach for enhanced crashworthiness of electric vehicles","volume":"83","author":"Y\u0131ld\u0131z","year":"2020","journal-title":"Int. J. Vehicle Des."},{"key":"S0263574724000171_ref12","doi-asserted-by":"crossref","first-page":"680","DOI":"10.1016\/j.jcp.2007.08.011","article-title":"Shape and topology optimization of compliant mechanisms using a parameterization level set method","volume":"227","author":"Luo","year":"2007","journal-title":"J. Comput. Phys."},{"key":"S0263574724000171_ref25","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1016\/j.mechmachtheory.2017.11.029","article-title":"Parallel robots based on motion\/force transmission indices","volume":"125","author":"Brinker","year":"2018","journal-title":"Mech. Mach. Theory"},{"key":"S0263574724000171_ref7","doi-asserted-by":"crossref","first-page":"363","DOI":"10.1080\/15397734.2016.1217780","article-title":"Optimal synthesis and kinematic analysis of adjustable four-bar linkages to generate filleted rectangular paths","volume":"45","author":"Ganesan","year":"2017","journal-title":"Mech. Based Des. Struct. Mach."},{"key":"S0263574724000171_ref52","first-page":"434","article-title":"On the performance of artificial bee colony (ABC) algorithm","volume":"47","author":"Karaboga","year":"2013","journal-title":"J. Theor. Appl. Inf. Technol."},{"key":"S0263574724000171_ref47","volume-title":"Genetic Algorithms in Search, Optimization and Machine Learning","author":"Golderberg","year":"1953"},{"key":"S0263574724000171_ref50","first-page":"107","volume-title":"Introduction to Mathematical Optimization","author":"Clerc","year":"2006"},{"key":"S0263574724000171_ref24","doi-asserted-by":"crossref","first-page":"697","DOI":"10.1017\/S0263574717000674","article-title":"Evaluating concurrent design approaches for a Delta parallel manipulator","volume":"36","author":"Botello-Aceves","year":"2018","journal-title":"Robotica"},{"key":"S0263574724000171_ref48","doi-asserted-by":"crossref","first-page":"671","DOI":"10.1126\/science.220.4598.671","article-title":"Optimization by simulated annealing","volume":"220","author":"Kirkpatrick","year":"1983","journal-title":"Science"},{"key":"S0263574724000171_ref17","doi-asserted-by":"crossref","first-page":"1793","DOI":"10.1109\/LRA.2018.2800037","article-title":"Toward motion coordination control and design optimization for dual-arm concentric tube continuum robots","volume":"3","author":"Chikhaoui","year":"2018","journal-title":"IEEE Robot. Autom. Lett."},{"key":"S0263574724000171_ref5","doi-asserted-by":"crossref","first-page":"1142","DOI":"10.1016\/j.mechmachtheory.2010.03.007","article-title":"On the synthesis of a geared four-bar mechanism","volume":"45","author":"Parlakta\u015f","year":"2010","journal-title":"Mech. Mach. Theory"},{"key":"S0263574724000171_ref16","doi-asserted-by":"crossref","first-page":"1444","DOI":"10.1109\/TMECH.2020.2977107","article-title":"Modeling and task-oriented optimization of contact-aided continuum robots","volume":"25","author":"Gao","year":"2020","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"S0263574724000171_ref13","doi-asserted-by":"crossref","first-page":"102096","DOI":"10.1016\/j.rcim.2020.102096","article-title":"Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility","volume":"69","author":"Russo","year":"2021","journal-title":"Robot Comput. Integr. Manuf."},{"key":"S0263574724000171_ref15","doi-asserted-by":"crossref","first-page":"7493","DOI":"10.1109\/LRA.2021.3097265","article-title":"An efficient follow-the-leader strategy for continuum robot navigation and coiling","volume":"6","author":"Mohammad","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"S0263574724000171_ref39","doi-asserted-by":"crossref","first-page":"58","DOI":"10.1080\/15397734.2015.1035785","article-title":"Structure-control design of a mechatronic system with parallelogram mechanism using an estimation of distribution algorithm","volume":"44","author":"Valdez Pe\u00f1a","year":"2016","journal-title":"Mech. Based Des. Struc. Mach."},{"key":"S0263574724000171_ref20","doi-asserted-by":"crossref","first-page":"861","DOI":"10.1007\/s00158-015-1275-3","article-title":"A multi-objective differential evolution approach based on \u03b5-elimination uniform-diversity for mechanism design","volume":"52","author":"Gholaminezhad","year":"2015","journal-title":"Struct. Multidiscip. Optimiz."},{"key":"S0263574724000171_ref46","doi-asserted-by":"crossref","first-page":"978","DOI":"10.1080\/0305215X.2018.1508574","article-title":"Multi-objective optimization of a flexible slider-crank mechanism synthesis, based on dynamic responses","volume":"51","author":"Khemili","year":"2019","journal-title":"Eng. Optimiz."},{"key":"S0263574724000171_ref19","doi-asserted-by":"crossref","first-page":"535","DOI":"10.1002\/(SICI)1097-0207(19980615)42:3<535::AID-NME372>3.0.CO;2-J","article-title":"Topology optimization of compliant mechanisms using the homogenization method","volume":"42","author":"Nishiwaki","year":"1998","journal-title":"Int. J. Numer. Methods Eng."},{"key":"S0263574724000171_ref2","doi-asserted-by":"crossref","first-page":"501","DOI":"10.1007\/s00158-017-1712-6","article-title":"Topology optimization of planar linkage mechanisms for path generation without prescribed timing","volume":"56","author":"Han","year":"2017","journal-title":"Struct. Multidiscip. Optimiz."},{"key":"S0263574724000171_ref54","doi-asserted-by":"crossref","first-page":"2809","DOI":"10.1007\/s10462-019-09747-y","article-title":"Flexible slider crank mechanism synthesis using meta-heuristic optimization techniques: A new designer tool assistance for a compliant mechanism synthesis","volume":"53","author":"Ben Abdallah","year":"2020","journal-title":"Artif. Intell. Rev."},{"key":"S0263574724000171_ref18","doi-asserted-by":"crossref","first-page":"e2021922118","DOI":"10.1073\/pnas.2021922118","article-title":"Evolutionary design of magnetic soft continuum robots","volume":"118","author":"Wang","year":"2021","journal-title":"Proc. Natl. Acad. Sci."},{"key":"S0263574724000171_ref4","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1016\/j.mechmachtheory.2014.11.021","article-title":"Efficient constrained synthesis of path generating four-bar mechanisms based on the heuristic optimization algorithms","volume":"85","author":"Ebrahimi","year":"2015","journal-title":"Mech. Mach. Theory"},{"key":"S0263574724000171_ref38","doi-asserted-by":"crossref","first-page":"744","DOI":"10.3139\/120.111541","article-title":"Sine-cosine optimization algorithm for the conceptual design of automobile components","volume":"62","author":"Y\u0131ld\u0131z","year":"2020","journal-title":"Mat. Test."},{"key":"S0263574724000171_ref10","doi-asserted-by":"crossref","first-page":"426","DOI":"10.1080\/15397734.2015.1096794","article-title":"Design and development of planar reconfigurable motion generators","volume":"44","author":"Venkataramanujam","year":"2016","journal-title":"Mech. Based Des. Struct. Mach."},{"key":"S0263574724000171_ref58","doi-asserted-by":"crossref","first-page":"110424","DOI":"10.1016\/j.asoc.2023.110424","article-title":"Error feedback method (EFM) based dimension synthesis optimisation for four-bar linkage mechanism","volume":"144","author":"Zhang","year":"2023","journal-title":"Appl. Soft Comput."},{"key":"S0263574724000171_ref40","first-page":"1","article-title":"Computational dynamics","volume":"1","author":"Shabana","year":"2010","journal-title":"Encycl. Ae rosp. Eng"},{"key":"S0263574724000171_ref49","doi-asserted-by":"crossref","first-page":"341","DOI":"10.1023\/A:1008202821328","article-title":"Differential evolution \u2013 A simple and efficient heuristic for global optimization over continuous spaces","volume":"11","author":"Storn","year":"1997","journal-title":"J. Global Optim."},{"key":"S0263574724000171_ref32","doi-asserted-by":"crossref","first-page":"640","DOI":"10.3139\/120.111529","article-title":"Seagull optimization algorithm for solving real-world design optimization problems","volume":"62","author":"Panagant","year":"2020","journal-title":"Mat. Test."},{"key":"S0263574724000171_ref37","doi-asserted-by":"crossref","first-page":"4207","DOI":"10.1007\/s00366-021-01368-w","article-title":"Enhanced grasshopper optimization algorithm using elite opposition-based learning for solving real-world engineering problems","volume":"38","author":"Yildiz","year":"2022","journal-title":"Eng. Comput."},{"key":"S0263574724000171_ref59","doi-asserted-by":"crossref","first-page":"1087","DOI":"10.1017\/S026357472200145X","article-title":"An improved Kalman particle swarm optimization for modeling and optimizing of boiler combustion characteristics","volume":"41","author":"Liang","year":"2023","journal-title":"Robotica"},{"key":"S0263574724000171_ref6","doi-asserted-by":"crossref","first-page":"18","DOI":"10.1016\/j.mechmachtheory.2017.04.010","article-title":"Optimal synthesis of four-bar path generator linkages using Circular Proximity Function","volume":"115","author":"Hadizadeh Kafash","year":"2017","journal-title":"Mech. Mach. Theory"},{"key":"S0263574724000171_ref23","doi-asserted-by":"crossref","first-page":"248","DOI":"10.1016\/j.mechmachtheory.2018.03.004","article-title":"An underactuated self-reconfigurable robot and the reconfiguration evolution","volume":"124","author":"Zhang","year":"2018","journal-title":"Mech. Mach. Theory"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574724000171","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,4,5]],"date-time":"2024-04-05T10:20:54Z","timestamp":1712312454000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574724000171\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,3,4]]},"references-count":61,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2024,4]]}},"alternative-id":["S0263574724000171"],"URL":"https:\/\/doi.org\/10.1017\/s0263574724000171","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,3,4]]}}}