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

Table 4

Comparative results of Case 2 with a novel path repairing technique.

Case 2: path generation with prescribed timing
Parameters	ABC	JADE	PBIL	TLBO	ACOR	GWO	SCA
	50.0000	47.3318	37.3034	47.3319	47.0787	48.7592	23.7320
	8.7953	8.9594	9.7011	8.9594	9.5109	8.8102	6.4302
	17.5326	26.1415	27.5790	26.1415	23.8293	23.8043	43.5310
	50.0000	50.0000	40.1382	50.0000	44.9649	45.6184	37.4296
	35.9767	43.5295	38.4166	43.5296	47.1950	49.8852	15.6308
	−7.7228	−27.9916	−31.4443	−27.9914	−14.3055	−13.8744	−50.0000
	16.0681	16.8224	16.2277	16.8224	17.8426	16.9234	14.9035
	−34.3113	−50.0000	−48.1851	−50.0000	−47.7051	−49.9768	−50.0000
	31.3196	48.3625	59.5519	48.3624	45.2184	44.2373	107.4695
Min	7.3696	0.7614	2.7790	0.7614	3.6197	1.0934	22.7680
Mean	31.4436	13.3175	24.3873	9.2918	31.1379	27.5451	147.5295
Max	52.3994	26.1423	92.0479	17.8459	107.1751	192.4375	660.2919
Std	13.9207	7.9546	18.4786	8.1308	23.2712	36.4676	141.0674
Error	1.0356	0.3073	0.6318	0.3073	0.6749	0.3723	1.6759
Success	30	30	30	30	30	30	30

Success = number of successful runs.