Hybrid Optimization Approach for the Design of Mechanisms Using a New Error Estimator

Table 1

Desired path and the path generated at the convergence with the proposed algorithm.

Paths		1	2	3	4	5	6	7	8	9	10	11
Desired (mm)	𝑥𝑑	0	0	0	0	0	0	3.00	6.00	9.00	12.00	15.00
	𝑦𝑑	15.00	12.00	9.00	6.00	3.00	0	0	0	0	0	0
EA (mm)	𝑥𝑔	0.21	0.06	0.08	−0.24	−0.29	0.82	2.96	5.70	8.77	11.92	14.97
	𝑦𝑔	15.33	12.20	8.75	5.27	2.76	1.14	0.03	−0.59	−0.68	−0.17	0.94
Hybrid (mm)	𝑥𝑠	0.22	−0.16	−0.18	0.04	0.11	0.00	3.00	5.99	9.00	12.01	14.93
	𝑦𝑠	14.95	12.01	8.99	6.00	2.98	0.24	0.05	−0.17	−0.26	−0.11	0.32