The topological synthesis of compliant mechanisms

Type synthesis of rigid-link mechanisms provides a means to determine mechanism topologies before considering link dimensions. Although researchers have provided valuable insight into the enumeration of mechanisms containing flexible members, a mathematically rigorous process for the topological synthesis of compliant mechanisms is lacking. One reason for this is the large increase in the number of possible mechanisms for a given number of links when the links are allowed to be flexible. This paper addresses this challenge with the development of an enumeration process for compliant mechanisms that builds on the rigid-body type-synthesis techniques and the terminology previously established for compliant elements. Compliant segment and connection information are included in the formulation and methods for determining isomorphisms are also introduced.