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

Table 5

Comparative result of Case 2 with a penalty technique.

Case 2: path generation with prescribed timing
Parameters	ABC	JADE	PBIL	TLBO	ACOR	GWO	SCA
	40.7603	32.5637	50.0000	47.3284	47.6986	49.0512	25.7137
	5.8249	7.2738	8.9238	8.9594	6.4661	7.9356	5.0000
	9.9768	22.0128	23.9506	26.1434	21.0563	21.2936	25.7783
	38.6534	31.9534	46.8513	50.0000	48.2501	41.6373	38.5477
	28.0556	42.1632	48.6935	43.5248	46.0280	50.0000	15.3979
	−5.7200	−28.2724	−16.8126	−27.9988	−23.7354	3.4330	−50.0000
	12.9887	12.8441	17.1186	16.8220	12.5560	16.2388	12.3447
	−24.4168	−48.8226	−49.3931	−50.0000	−50.0000	−47.9755	−50.0000
	34.5068	57.2910	46.9004	48.3661	41.6402	36.6935	67.0180
Min	6.1512	8.5978	2.2458	0.7614	24.4416	2.6452	43.5787
Mean	58.0879	35.9131	20.6274	45.8361	98.6229	39.3821	340.6984
Max	168.5279	97.6451	86.4201	609.1712	173.0658	108.0179	1064.047
Std	44.3671	17.0311	20.9987	139.0780	39.9827	32.7100	265.7480
Error	0.8997	1.0665	0.5467	0.3073	1.9211	0.6451	2.5063
Success	30	30	21	29	30	30	30

Success = number of successful runs.