All the synthesis examples we have seen in the preceding sections are of the function gen-

eration type. That is, if x is the angular position of the input crank and y is the position of
the output link, then we are trying to find the dimensions of a linkage for which the
input/output relationship fits a given functional relationship:

y = f(x) (a)

In general, however, a mechanism has only a limited number of design parameters, a

few link lengths, starting values for the input and output angles, and a few more. Therefore,
except for very special cases, a linkage synthesis problem usually has no exact solution
over its entire range of travel.
In the preceding sections we have chosen to work with two or three or four positions
of the linkage, called precision positions. and to find a linkage that exactly satisfies the de-
sired function at these few chosen positions. Our implicit assumption is that if the design
fits the specifications at these few positions, then it will probably deviate only slightly from
the desired function between the precision positions, and that the deviation will be accept-
ably small. Structural error is defined as the theoretical difference between the function
produced by the synthesized linkage and the function originally prescribed. For many func-
tion generation problems the structural error in a four-bar linkage solution can be held to
less than 4 percent. We should note, however, that structural error usually exists even if no
graphical error were present from a graphical solution process, and even with no mechan-
ical error that stems from imperfect manufacturing tolerances.