Let's take a closer look at the photo:
I'm going to cast my vote that we're looking at a 4-link. From what I've seen, TRUE 3-link setups use either a single lower link and two uppers (or vice versa) and a panhard bar for lateral location of the axle. This particular setup has no panhard, and the upper links are merely converged to a single point on top of the axle. If those links were even 1" apart, everyone would call it 4-link..... /forums/images/graemlins/grin.gif
So here's the million-dollar question you asked: "What are the fundamentals in designing a 3-link (or in this case 4-link)"
Well it should be obvious in a HURRY that you'll never hear the same answer twice. The primary reason is that once you start to understand the relationships of the links and the way they will affect handling, and offroad driveability, etc the "choices" get tough....
This photo is a great example:
1. Lower links are bent to provide really good ground clearance (Drawbacks: the effective link angle is quite steep which is going to dial in a LOT of anti-squat. Also those bent arms are going to be travelling up inside the cab of the truck substantially, so rear storage will be minimal)
2. Rear link converged on top of pumpkin also provides good ground clearance (Drawbacks: Probably is going to travel up inside the cab also. I see a lot of bushing-style endlinks on it too, which I suspect will cause binding as it tries to flex)
In this example....it's clear that the objective is suspension travel over interior room, or storage space, etc. and it looks like he's going for maximum ground clearance (breakover angle) too.
There are a lot of ways to plan a link suspension, but the amount of available solutions becomes smaller once you decide which criteria are most important to you, and how efficiently you want to package everything.
FUN STUFF!! /forums/images/graemlins/thumb.gif