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In automotive world role of suspension system is to absorb vibrations from the road, and to provide stability while vehicle is going over bumps or uneven roads, cornering, acceleration and braking etc. For body on frame SUVs which are typically characterized by high center of gravity, it is quite critical to find best balance in ensuring stability of the vehicle and having comfortable ride performance. Rigid axle rear suspension is quite a typical choice in such vehicles, wherein lower and upper control links are two important components subjected to lateral, longitudinal, and vertical loads. These links allow the vehicle to move smoothly throughout the entire range of suspension travel. Kinematics and compliance optimization of these links is a major factor in definition of ride-handling performance of the vehicle.