The age of computer aided mechanism synthesis began in the late 1950’s, as Freudenstein & Sandor published the first paper on the topic . Many exciting developments occurred over the next 60 years, resulting in the development of multiple intriguing mechanism synthesis packages at several leading research institutions. This paper provides an historical overviewof the developments in computer aided planar linkage synthesis in the time window of 1955 to the present. The origins and legacies of those packages are reviewed. Key contributions to the field by Waldron and his associates are recognized.