1. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Flowchart for synthesizing fully distributed compliant mechanisms for path generation

2. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Three rigid-body mechanisms that can trace straight lines. (a) A four-bar mechanism. Nodes 1, 2, and 3 are the input, fixed, and output nodes, respectively. Nodes 4 and 5 are the interconnect nodes. (b) A six-bar mechanism. (c) An eight-bar mechanism.

3. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
(a) The topology is disconnected since the input node (node 1) is not connected to the output node (node 3). (b) The substructures (dashed lines) related to nodes 5, 8, 9, and 10 are invalid and must be removed from the topology.

4. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
(a) The dashed line with points F1,...,Fn is the full path generated by a compliant mechanism. The solid line with points T1,...,T5 is the target path. (b) The generated path is shifted to minimize the distance metric D15 relative to the target path. (c) Section F612 from point F6 to F12 of the generated path has the smallest error Dmin. The distance between F12 and T12 is the peak error Dp.

5. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Pareto front for the synthesis of compliant mechanisms using the rigid-body mechanism topology in Fig. 2(a)

6. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
(a) The solution mechanism that has an average matching error of 0.225 mm and peak error of 1.518 mm in its undeformed position before the rigid-body transformation. (b) Animation of the solution mechanism to trace the target line. (c) Comparison between the generated path of the solution mechanism and the target path.

7. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
(a) Solution 1DOF rigid-body mechanism with a rotary actuator. (b) An initial mesh network defined by the topology in (a).

8. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Pareto front for the synthesis of compliant mechanisms using the rigid-body mechanism topology in Fig. 7(a)

9. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
(a) The solution mechanism that has an average error of 0.448 mm and peak error of 3.412 mm in its undeformed position before the rigid-body transformation. (b) Animation of the solution mechanism to trace the target line. (c) Comparison between the generated path of the solution mechanism in (b) and the target path.

10. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Prototype of the compliant mechanism solution (Fig. 9) in its (a) undeformed position, (b) top-end position, and (c) bottom-end position

11. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
(a) Solution 1DOF rigid-body mechanism with a linear actuator. (b) An initial mesh network defined by the topology in (a).

12. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Pareto front for the synthesis of compliant mechanisms using the rigid-body mechanism topology in Fig. 11(a)

13. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
(a) The solution mechanism that has an average matching error of 0.215 mm and peak error of 0.422 mm in its undeformed position before the rigid-body transformation. (b) Animation of the solution mechanism to trace the target curve. (c) Comparison between the generated path of the solution mechanism in (b) and the target path.

14. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Prototype of the solution mechanism (Fig. 13) in its (a) undeformed position, (b) right-end position, and (c) left-end position