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