As shown elsewhere, the approximate least-square synthesis of function-generating linkages can be formulated in terms of one single decision variable. Hence, functions representing global properties of linkages such as accuracy and transmission quality, which are terms precisely defined in this paper, as well as mobility type, are all functions of one single variable. The optimization procedure presented here is aimed at the synthesis of function-generating linkages with a minimum least-square design error and a maximum transmission quality, while meeting conditions prescribed on the type of mobility (crank or rocker) of its input and/or output links. Alternative performance indices and/or constraints can be treated likewise.

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