Bell inequalities are central tools for studying nonlocal correlations and their applications in quantum information processing. Identifying inequalities for many particles or measurements is, however, difficult due to the computational complexity of characterizing the set of local correlations. We develop a method to characterize Bell inequalities under constraints, which may be given by symmetry or other linear conditions. This allows one to search systematically for generalizations of given Bell inequalities to more parties. As an example, we find all possible generalizations of the two-particle inequality by Froissart [Nuovo Cimento Soc. Ital. Fis. B 64, 241 (1981)], also known as I3322 inequality, to three particles. For the simplest of these inequalities, we study their quantum mechanical properties and demonstrate that they are relevant, in the sense that they detect nonlocality of quantum states, for which all two-setting inequalities fail to do so.