for single-loop (fourbar) or multiloop (more than four bar) linkages with both pin and slider joints. They allowed constraints to be imposed on the allowable ranges of link lengths and angles, any of which also may be held constant during the iteration. An ex ample of an optimization done with this method for 19 evenly spaced points around a desired fourbar coupler path is shown in Figure 5-11 P5] Another example of this meth- od is the lo-bar crank slider linkage in Figure 5-12 125) which also shows the desired and actual coupler curve generated by point P for 24 points comesponding to equal incre- ments of input crank angle.