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The article explores the development of approximation-based synthesis methods for planar linkages within the Kazakh school of Theory of Machines and Mechanisms (TMM). Special attention is given to the practical application of approximative kinematic geometry to the synthesis of path-generators. Advanced numerical-analytical synthesis methods are proposed, incorporating multiple quality criteria for mechanisms. To enhance design efficiency, a multi-objective optimization algorithm is developed using modern machine learning methods, particularly DeepSurNet-NSGA and others. New designs of six-bar leg mechanisms for walking robots are presented as examples.

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Synthesis of Path Generators: Development of Approximation Methods in Kazakhstan

  • 会议论文

  • 发表日期：

    2026年

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  • Amandyk Tuleshov,
  • Sayat Ibrayev,
  • Marco Ceccarelli,
  • Arman Ibrayeva,
  • Batyrkhan Omarov

摘要

The article explores the development of approximation-based synthesis methods for planar linkages within the Kazakh school of Theory of Machines and Mechanisms (TMM). Special attention is given to the practical application of approximative kinematic geometry to the synthesis of path-generators. Advanced numerical-analytical synthesis methods are proposed, incorporating multiple quality criteria for mechanisms. To enhance design efficiency, a multi-objective optimization algorithm is developed using modern machine learning methods, particularly DeepSurNet-NSGA and others. New designs of six-bar leg mechanisms for walking robots are presented as examples.