Fig. 1 Compliant mechanisms with equivalent single-translation constraints: ( a ) wire beam with constraint line along the beam axial direction (length direction), ( b ) I-shaped leaf beam [ 7 ] and ( c ) GSTC leaf beam More about this image found in Compliant mechanisms with equivalent single-translation constraints: ( a ) ...

Fig. 2 Four representative configurations in comparison: ( a ) I-shaped leaf beam ( β x i = π /2; β y i = 0; β z i = 0), ( b ) non-orthogonal leaf beam ( β x i = π /2; β y i = π /6; β z i = π /6), ( c ) L-shaped leaf beam ( β x i = π /2; β y i = 0; β z i = π ... More about this image found in Four representative configurations in comparison: ( a ) I-shaped leaf beam ...

Fig. 3 The displacement comparison between the FEA and analytical results for the non-orthogonal leaf beam, subjected to incremental forces in the Y -direction, a constant force in the X -direction, and a constant moment along the X -direction: ( a ) the resultant displacement X s i , ( b ... More about this image found in The displacement comparison between the FEA and analytical results for the ...

Fig. 4 The displacement comparison between the FEA and analytical results for the I-shaped leaf beam, subjected to incremental forces in the Y -direction, a constant force in the X -direction and a constant moment along the X -direction: ( a ) the resultant displacement X s i , ( b ) the r... More about this image found in The displacement comparison between the FEA and analytical results for the ...

Fig. 5 The displacement comparison between the FEA and analytical results for the L-shaped leaf beam, subjected to incremental forces in the Y -direction, a constant force in the X-direction, and a constant moment along the X -direction: ( a ) the resultant displacement X s i , ( b ) the re... More about this image found in The displacement comparison between the FEA and analytical results for the ...

Fig. 6 The displacement comparison between the FEA and analytical results for the folded-leaf beam, subjected to incremental forces in the Y -direction, a constant force in the X -direction, and a constant moment along the X -direction, ( a ) the resultant displacement X s i , ( b ) the re... More about this image found in The displacement comparison between the FEA and analytical results for the ...

Fig. 7 Spherical joints: ( a ) wire beam-based spherical joint, ( b ) spherical joint using non-orthogonal leaf beams, ( c ) spherical joint using I-shaped leaf beams, ( d ) spherical joint using folded-leaf beams, and ( e ) spherical joint using L-shaped leaf beams. A video showcasing the design ... More about this image found in Spherical joints: ( a ) wire beam-based spherical joint, ( b ) spherical jo...

Fig. 8 General spherical joint with GSTC leaf beams: ( a ) geometry labeling and ( b ) top view of the coordinate systems More about this image found in General spherical joint with GSTC leaf beams: ( a ) geometry labeling and (...

Fig. 9 The displacement comparison between the FEA and analytical results for the spherical joint with non-orthogonal leaf beams, subjected to incremental moment along the Y -direction, a constant moment along the X -direction and a constant force in the Z -direction: ( a ) the resultant displa... More about this image found in The displacement comparison between the FEA and analytical results for the ...

Fig. 10 The displacement comparison between the FEA and analytical results for the spherical joint with I-shaped leaf beams, subjected to incremental moment along the Y -direction, a constant moment along the X -direction and a constant force in the X -direction: ( a ) the resultant displacemen... More about this image found in The displacement comparison between the FEA and analytical results for the ...

Fig. 11 The displacement comparison between the FEA and analytical results for the spherical joint with L-shaped leaf beams, subjected to incremental moment along the Y -direction, a constant moment along the X -direction and a constant force in the X -direction, ( a ) the resultant displacemen... More about this image found in The displacement comparison between the FEA and analytical results for the ...

Fig. 12 The displacement comparison between the FEA and analytical results for the spherical joint with folded-leaf beams, subjected to incremental moment along the Y -direction, a constant moment along the X -direction and a constant force in the X -direction, ( a ) the resultant displacement ... More about this image found in The displacement comparison between the FEA and analytical results for the ...

Fig. 13 The center drift comparison between the FEA and analytical results for the spherical joint with non-orthogonal leaf beams, subjected to incremental moment along the Y -direction, a constant moment along the X -direction and a constant force in the X -direction, ( a ) the resultant displ... More about this image found in The center drift comparison between the FEA and analytical results for the ...