1. Date of download: 6/9/2016 Copyright © ASME. All rights reserved. From: A Closed-Form Nonlinear Model for the Constraint Characteristics of Symmetric Spatial Beams J. Mech. Des. 2013;135(3):031003-031003-11. doi:10.1115/1.4023157 Spatial beam flexure—undeformed and deformed Figure Legend:

2. Date of download: 6/9/2016 Copyright © ASME. All rights reserved. From: A Closed-Form Nonlinear Model for the Constraint Characteristics of Symmetric Spatial Beams J. Mech. Des. 2013;135(3):031003-031003-11. doi:10.1115/1.4023157 A 3 DOF patial flexure mechanism Figure Legend:

3. Date of download: 6/9/2016 Copyright © ASME. All rights reserved. From: A Closed-Form Nonlinear Model for the Constraint Characteristics of Symmetric Spatial Beams J. Mech. Des. 2013;135(3):031003-031003-11. doi:10.1115/1.4023157 Spatial kinematics of beam deformation Figure Legend:

4. Date of download: 6/9/2016 Copyright © ASME. All rights reserved. From: A Closed-Form Nonlinear Model for the Constraint Characteristics of Symmetric Spatial Beams J. Mech. Des. 2013;135(3):031003-031003-11. doi:10.1115/1.4023157 Elastic matrix [H 1 ] Figure Legend:

5. Date of download: 6/9/2016 Copyright © ASME. All rights reserved. From: A Closed-Form Nonlinear Model for the Constraint Characteristics of Symmetric Spatial Beams J. Mech. Des. 2013;135(3):031003-031003-11. doi:10.1115/1.4023157 Kinematic matrices [H 2 ], [H 3 ], and [H 7 ] Figure Legend:

6. Date of download: 6/9/2016 Copyright © ASME. All rights reserved. From: A Closed-Form Nonlinear Model for the Constraint Characteristics of Symmetric Spatial Beams J. Mech. Des. 2013;135(3):031003-031003-11. doi:10.1115/1.4023157 Elastokinematic matrix [H 4 ] Figure Legend:

7. Date of download: 6/9/2016 Copyright © ASME. All rights reserved. From: A Closed-Form Nonlinear Model for the Constraint Characteristics of Symmetric Spatial Beams J. Mech. Des. 2013;135(3):031003-031003-11. doi:10.1115/1.4023157 Elastokinematic matrix [H 5 ] Figure Legend: