Abstract: A method for designing a mechanism including rigid bodies and mechanical joints including obtaining input parameter values which represent the mechanism in an input state. The method also includes determining output parameter values which represent the mechanism in an output state. The determining includes minimizing an objective function under constraints. The objective function penalizes a distance between the output dimensional values and the input dimensional values. The constraints include a first constraint representing verification of the closure equation by the output parameter values. The constraints further include a second constraint representing mobility of the mechanism in the output state. This forms an improved solution for designing a mechanism comprising rigid bodies and mechanical joints.