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2CDB actuators Additionally angle block stiffness ellipsoids building block geometries building block stiffness building block synthesis CDB2 Chapter characterization compliance and stiffness compliance matrix compliant mechanisms components connection of building constraint corresponding coupling decompose decomposition point deformable body design of compliant desired displacement determine dissertation eigenvalue decomposition eigenvectors ellipsoid characteristics energy efficiency error function finite element analysis floating link formulate geometric advantage geometry optimization graph theory illustrated in Figure initial design input and output input displacement instant center kinematic specifications Kota magnitude mechanism synthesis mechanism topology moving junction normalized obtain orientation original problem output displacement PCVt performed plot PSVbb resulting sub-problem rigid body rigid link mechanisms scale selection shown in Figure single point synthesis straight beam structural optimization sub-problem compliance ellipsoid synthesis of compliant target compliance ellipsoid target ellipsoid target stiffness ellipsoid topology optimization type synthesis vector yield