In this paper the optimality criterion technique transplanted by Khan and his coworkers into mechanism design and the kinematical refinement technique proposed by the authors are combined into a novel procedure of optimum design of flexible mechanisms. Cross-sectional parameters are taken as the first group of design variables; a fully-stressed mechanism is obtained by using previous researchers’ recursion formulas which contain some improvements introduced by the authors. Geometrical parameters are used as the second group of design variables; a mechanism with improved criterion of kinematic performance is obtained by means of the kinematic refinement technique. The method presented is effective and steady. An example problem in the design of a four-bar path-generating mechanism is given to illustrate the procedure.

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