During this stage careful consideration is given to the problems and the design team selects various features of the concepts generated in the ideation stage and combining them into one or more promising compromise solutions. At this point the best solution is also evaluated in detail and attempts are made to simplify it so that it performs efficiently and is easy to manufacture, repair, and even dispose of when its lifetime is over. 

These solutions are then refined into design sketches and are followed by studies which can include analysis of suitable materials, possible motion problems, choice of power source, required motions, etc. All of these can then be represented graphically, using schematic drawings in which various parts are shown in skeleton form. For example, pulleys and gears are represented by circles, an arm by a single line, and a path of motion by centrelines. This is also the stage where basic calculations related to velocity and acceleration are made.

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