Freedom and constraint topologies

Freedom and constraint topologies (a.k.a., freedom, actuation, and constraint topologies; or simply FACT). is a mechanical design framework developed by Dr. Jonathan B. Hopkins. The framework offers a library of vector spaces with visual representations to guide the analysis and synthesis of flexible systems. Flexible systems are devices, mechanisms, or structures that deform to achieve desired motion such as compliant mechanisms, flexures, soft robots, and mechanical metamaterials.

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