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. Constraints are one of the main factors that hinder theoptimal synthesis of linkages to obtain the global optimum. At present, themost commonly used constraint handling method is called the penalty function(PF) method, but this technique has proven to be inefficient and unreliable in pathsynthesis. In this paper, a novel and effective constraint handling methodcalled the individual repairing (IR) method is developed for the optimizationmodel of four-bar mechanisms for path synthesis. The function of the IRmethod is to check the conformity of each individual to the Grashof condition, thesequence condition, and the variable range condition after populationinitialization and each iteration as well as to repair all unreasonable individualsaccording to the corresponding repairing technique to make them all satisfythe constraint conditions. In other words, the new constraint handlingmethod establishes a transformation method so that each infeasible point inthe search space uniquely corresponds to a feasible point. Based on the IRmethod, the optimization of path synthesis can be effectively carried out.Finally, the validity and reliability of the new constraint handling methodare verified using three examples.

Optimal synthesis of four-bar linkages for path generation using the individual repairing method