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An optimization program for the design of wiper linkages is developed to minimize jerky motion while satisfying design constraints on kinematic and torque performances, mobility condition, and packaging. The lengths/orientations of links and the position of a driving motor are selected as design variables. In our optimum design program for wiper linkages, an optimization module interacts with an analysis module which calculates kinematic and force/torque properties, until convergence. The optimization results of a particular wiper linkage are presented to illustrate the effectiveness of the program developed.