Mechanism synthesis needs motion quality, not only reachability

Mechanism synthesis is not finished when a linkage reaches the desired positions.

A useful mechanism must also move through those positions with acceptable transmission angle, force transfer, clearance, singularity margin, and load behavior. A mathematically valid path can still be mechanically fragile.

This is why synthesis needs both design metrics and solver health checks.

Related:

• 2D Mechanism Synthesis
• The hidden Mechanism behind Cyclying
• Launching a MBSD framework