In this paper, the dimensional synthesis of the four-bar mechanism for path generation is formulated using the relative angle motion analysis and the link geometry parameterization with Cartesian coordinates. The Optimum Dimensional Synthesis using Relative Angles and the Cartesian space link Parameterization (ODSRA+CP) is stated as an optimization problem, and the solution is given by the differential evolution variant DE/best/1/bin. This study investigates the behavior and performance of such formulation and performs a comparative empirical study with the well-known synthesis method based on vector-loop equation motion analysis where different modifications in the metaheuristic algorithms are established in the literature to improve the obtained solution. Five study cases of dimensional synthesis for path generation with and without prescribed timing are solved and analyzed. The empirical results show that the way of stating the optimization problem in the ODSRA+CP significantly improves the search process for finding promising solutions in the optimizer without requiring algorithm modifications. Therefore, it is confirmed that the optimizer search process in the optimal synthesis of mechanisms is not the only way of improving the obtained solutions, but also the optimization problem formulation has a significant influence on the search for better solutions.INDEX TERMS Mechanism synthesis, four-bar mechanism, optimization, differential evolution.

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This paper presents the modeling of the inverse kinematic problem related to the motions of a delta planar robot using the algebra of unitary Quaternions. The mathematical model resulting from the inverse kinematic analysis has an associated system of 8 nonlinear algebraic equations with 8 polynomial unknowns. The Newton-Raphson method was used to solve the mathematical model of the robot. Subsequently, using the inverse model of the robot, a database was constructed that relates the Cartesian coordinates of the end effector to the angles and axes of the rotations of the links. This database was used to train a multilayer neural network in order to have an equivalent model of the inverse problem. A series of experiments were performed to obtain an improved network configuration by varying four training parameters. The results obtained show that the improved trained network can be used to solve the inverse problem of the studied robot.

An ergonomic intervention method based on QOC Matrix the workers' voice was implemented in a study case. The diagnosis and analysis developed are used in improvement proposals for workstation redesign. The workers' voice resulting from reports of the employee' complaints and symptomatology was the base for a standardized method that comprises: (a) QOC questionnaire application, (b) risk factor categorization, (c) determination of unsafe and unhealthy ergonomic metrics, (d) figuring out the task content impact in the workers' body, and (e) work system diagnosis. Since workers' voice, the risk identification made included: (1) the task content linked to work method: repetitiveness associated with the sensor activation using the fingers and the repetitive movements include twist and the stretch of wrist, (2) workplace design regarding container height and injuries caused in wrists and elbows due to hits, (3) task developed regarding risk time exposition and workers position, and (4) workplace design regards to housing collector distance from filling area linked to workers position adopted for reach bags. Improvements included redesign of the workstation with a system of 90° exit discharge curve, one elevation system, and a photoelectric sensor in filling nozzle for automatic filling. As an improvement result, the activity called bags provision was eliminated from the task.