The design and optimization of a four-bar linkage is presented for landing gear of a multirotor. The kinematic equations for position, velocity, and acceleration are expressed for a dynamic formulation using the Euler-Lagrange method. A concurrent optimization approach is designed using an Estimation of Distribution Algorithm (EDA). The optimization method executes co-simulations between Python and Amesim, starting with the offline dynamic simulation from Amesim, which provides the necessary data to evaluate the designed objective functions. This approach enables us to optimize the dimensions of the mechanism links and the PD control gains from a set of restricted random numbers.