Tylaska and Kazerounian [19],[20]took a different approach and devised a method that synthesizes a fourtar linkage for up to 7 precision points and also synthesized a Watt body guidance (motion specification) positions with con- I sixbar linkage for up to six trol over locations of some ground and moving pivots. Their method yields the entire set of solutions for any set of design data and is an improvement over iterative methods that are sensitive to initial guesses. It is less computationally intensive than the continu- ation methods.