Bawab et al., 138] described an approach that will automatically (within the software program) synthesize a fourbar linkage for two, three, or four positions using Burmester theory and eliminate all solutions having CBo defects. Limits on link length ratios and transmission angle are specified and the objective function is based on these criteria with weighting factors applied. Regions in the plane within which the fixed or moving pivots must be located may also be specified.