Optimal Synthesis of Four-Bar Linkage Path Generation through Evolutionary Computation with a Novel Constraint Handling Technique

Table 2

Comparative results for Case 1 with a penalty technique.

Case 1: path generation without prescribed timing
Parameters	ABC	JADE	PBIL	TLBO	ACOR	GWO	SCA
	38.2010	31.9116	34.6475	59.9108	22.0645	43.6675	60.0000
	8.6064	7.4478	6.4582	29.9172	5.0000	5.3499	5.0000
	22.4589	43.6552	21.6196	59.9967	60.0000	26.5380	47.3444
	33.2769	31.8355	23.7955	54.2963	60.0000	22.5663	60.0000
	20.0224	9.4994	30.1437	59.7723	4.2836	−17.2375	60.0000
	24.8915	25.3461	−25.6646	11.4222	11.0367	43.5804	−60.0000
	−5.1270	−0.4792	51.7915	41.5439	32.8024	59.9713	−60.0000
	52.6358	38.6191	54.5888	−2.4092	29.3709	10.5553	−0.6986
	212.3407	224.9538	211.7426	47.8784	15.3431	16.7149	0.0000
	307.2217	241.9357	211.4543	304.0545	159.2096	342.4006	21.6624
	357.3637	226.6521	243.5720	347.0862	246.5489	15.3455	201.7648
	26.8761	204.4762	287.1713	359.9988	253.5892	37.5406	75.3665
	52.9043	174.1217	311.7283	9.0531	299.5365	60.6278	3.1728
	80.7316	141.3107	333.2289	16.0694	0.0000	91.7984	0.0000
	110.8412	131.9133	58.1996	22.0740	111.4815	134.0130	360.0000
Min	0.9797	23.1751	23.1950	0.2399	523.5085	0.8853	358.3843
Mean	23.4148	297.8795	133.3815	175.9177	1005.078	147.9292	452.8526
Max	78.2443	1151.615	247.9302	1106.170	1541.802	399.6278	562.5967
Std	18.2255	242.1490	74.2606	226.5618	236.8720	120.4374	102.9596
Error	0.3545	1.6529	1.7811	0.1808	7.9631	0.3532	5.9932
Success	30	29	6	26	22	29	3

Success = number of successful runs.