Topology design of rigid string mechanism using constraint force design method

This study extends the constraint force design method allowing topology optimization for planar rigid link and string mechanisms. To our best knowledge, by applying conventional machine and mechanism design theories, it is likely that it is possible to find out optimal locations of joints and lengths of rigid links but somewhat difficult to find out optimal topology of rigid links. To achieve optimal topology of rigid links, there is our previous contribution so called the new constraint force design method with the binary design variables determining the existence of the auxiliary forces imposing apparent lengths among unit masses. By adding new binary design variables, this research extends the constraint force design method to find out optimal mechanism consisting of stringy links as well as rigid links that seems impossible in the conventional machine and mechanism design theories