{"references": ["Flores, P., Leine, R., Glocker, C.: Modeling and analysis of planar rigid multibody systems with translational clearance joints based on the non-smooth dynamics approach. Multibody. Syst. Dyn. 23, 165-190 (2010).", "Flores, P., Ambr\u00f3sio, J.: Revolute joints with clearance in multibody systems. Comput. Struct. 82(17), 1359\u20131369 (2004).", "Flores, P., Ambr\u00f3sio, J., Claro, J.P.: Dynamic analysis for planar multibody mechanical systems with lubricated joints. Multibody Syst. Dyn. 12(1), 47\u201374 (2004).", "Muvengei, O., Kihiu, J., Ikua, B.: Numerical study of parametric effects on the dynamic response of planar multi-body systems with differently located frictionless revolute clearance joints, Mech. Mach. Theory. 53, 30\u201349 (2012).", "Yaqubi, S., Dardel, M., Daniali, H.M.: Nonlinear dynamics and control of crank\u2013slider mechanism with link flexibility and joint clearance. P. I. Mech. Eng. C-J Mec. (2015). doi: 10.1177/0954406215593773.", "M.A Laribi, A Mlika, L Romdhane, S Zeghloul, Combined Genetic Algorithm-Fuzzy Logic Method (GA-FL) in Mechanisms Synthesis, Mechanism and Machine Theory 39 (2004) 717\u2013735.", "Sel\u00e7uk Erkaya, Ibrahim Uzmay Optimization of transmission angle for slider-crank mechanism with joint clearances Struct Multidisc Optim (2009) 37:493\u2013508.", "Selcuk Erkaya, Ibrahim Uzmay Determining link parameters using genetic algorithmin mechanisms with joint clearance Mechanism and Machine Theory 44 (2009) 222\u2013234.", "Erkaya. S, Uzmay, \u0130.: A neural-genetic (NN-GA) approach for optimising mechanisms having joints with clearance. Multibody Syst. Dyn. 20, 69-83.\n[10]\tErkaya. S, Investigation of balancing problem for a planar mechanism using genetic algorithm Journal of Mechanical Science and Technology 27 (7) (2013) 2153-2160.\n[11]\tS. M Veradi, H. M. Daniali Dynamic synthesis of a planar slider\u2013crank mechanism with clearances Nonlinear Dyn (2015) 79:1587\u20131600.\n[12]\tS. M. Veradi H.M. Daniali, M. Dardel, A. Fathi Optimal dynamic design of a planar slider-crank mechanism with a joint clearance, Mechanism and Machine Theory 86 (2015) 191\u2013200."]}

This work denotes an insight into dynamic synthesis of multibody systems. A set of mechanism parameters design variable are synthetized based on a desired mechanism response, such as, velocity, acceleration and bodies deformations. Moreover, knowing the work space, for a robot, and mechanism response allow defining optimal parameters mechanism handling with the desired target response. To this end, evolutionary genetic algorithm has been deployed. A demonstrative example for imperfect mechanism has been treated, mainly, a slider crank mechanism with a flexible connecting rod. The transversal deflection of the connecting rod has been chosen as response to identify the mechanism design parameters.