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Linkage Transformation
1. revolute joints in any loop can be replaced by prismatic joints
with no change in DOF of the mechanism, provided that
at least 2 revolute joints remain in the loop.
Linkage Transformation
Linkage Transformation
Springs as links
L = 4
L = 2
Spring J1 = 3
M= 3
M= 3
MECHANISMDESIGN170329
Compliant mechanism
Quiz Chap. 2