Background
Requirementes
Basic parallelogram—iso-elasticity
Effects of non-ideal springs and friction
Adaptability to load changes
Extension by a 4-link mechanism
Optimisation of the geometry
fmincon
function of the optimisation toolbox. The used algorithm uses interior-point approach. The function \(F(\varphi ,r)\) was computed on a discrete grid of \(\varphi\) and r values.