A generalized formulation to design Multi-Input–Multi-Output (MIMO) compliant mechanisms is presented in this work. This formulation also covers the simplified cases of the design of Multi-Input and Multi-Output compliant mechanisms, more commonly used in the literature. A Sequential Element Rejection and Admission (SERA) method is used to obtain the optimum design that converts one or more input works into one or more output displacements in predefined directions. The SERA procedure allows material to flow between two different material models: ‘real’ and ‘virtual’. The method works with two separate criteria for the rejection and admission of elements to efficiently achieve the optimum design. Examples of Multi-Input, Multi-Output and MIMO compliant mechanisms are presented to demonstrate the validity of the proposed procedure to design complex complaint mechanisms. 
Topology synthesis of Multi-Input–Multi-Output compliant mechanisms