Compliant mechanisms are defined as mechanisms that gain some, or all of their mobility from the flexibility of their members. Suitable use of pseudo-rigid-body models for compliant segments, and relying on the state-of-the-art knowledge of rigid-body mechanism synthesis types, greatly simplifies the design of compliant mechanisms. Assuming a pseudo-rigid-body four-bar mechanism, with one to four torsional springs located at the revolute joints to represent mechanism compliance, a simple, heuristic approach is provided to develop various compliant mechanism types. The synthesis with compliance method is used for three, four and five precision positions, with consideration of one to four torsional springs, to systematically develop design tables for standard mechanism synthesis types. These tables appropriately reflect the mechanism compliance by specification of either energy or torque. Examples are presented to demonstrate the use of weakly or strongly coupled sets of kinematic and energy/torque equations, as well as different compliant mechanism types in obtaining solutions.

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