This paper presents an approach to optimize planar mechanisms for function generation synthesis. It is applied to the design of different steering linkages used in road vehicles where the Ackermann condition is formulated as the objective function. Four different mechanisms are kinematically defined and synthesized in terms of the proposed method. Limitations of the size of the elements are also considered by means of inequality constraints. Solutions are presented as the difference between desired behaviour, established by Ackermann, and actual generated performance. The results show that the accuracy achieved by the proposed procedure is satisfactory for working conditions in this type of linkages.