The SPS approach is suitable to any linkage constructible from dyads or triads and so can accommodate sixbar and geared fivebar linkages as well as fourbars Fourbar function, motion, or path generation (with prescribed timing) can all be synthesized, us ing the standard form approach which considers all three forms equivalent in terms of equation formulation. Spatial mechanisms can also be accommodated. The solutions are stable and less sensitive to small changes in the data than precision point methods. Krishnamurthi et al.P8] extended the SPS approach by using fuzzy set theory which gives a mechanism path as close to the specified points as is possible for a given start point, but it is sensitive to start point selection and may find local optima rather than global.