This paper discusses topology, shape and size optimization of fully compliant mechanisms for path generation applications using curved frame elements and genetic algorithm. The topology optimization problem is treated as a discrete '0-1' problem wherein the elastic modulus is chosen as 0 or some pre-specified value, and no intermediate value in between. As the Young's moduli are discrete topology design variables, function based genetic algorithm is employed for optimization. The size optimization variables are the lengths, in-plane widths and out-of-plane thicknesses of frame elements. Shape optimization is performed using the end slopes. Kirchhoff's shallow arch beam theory is employed along with corotational geometrically nonlinear formulation. Synthesis examples are presented to demonstrate the applicability of min-max criterion proposed to achieve a curved path specified using precision points. Copyright © 2006 by ASME.