Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: Example 1DOF closed morphing mechanism

Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: Example 3DOF fixed-end morphing mechanism

Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: Example 2DOF open morphing mechanism

Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: Target profile set for the example in Sec. 4

Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: Plots showing the percent increase in matching error and maximum required actuating moment for each mechanism in the suitable design region for the example in Sec. 4. The symbols represent different topology permutations. (a) 1DOF solutions for the restricted topology case and (b) 1DOF solutions for the general topology case.

Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: Sample solution mechanisms for the example in Sec. 4, shown in configurations closest to the first design profile: (a) topology permutation denoted by squares (□) in Fig. 5(a), (b) topology permutation denoted by circles (o) in Fig. 5(b), (c) topology permutation denoted by left facing triangles (◁) in Fig. 5(b), and (d) topology permutation denoted by x marks (x) in Fig. 5(b)

Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: Target profile set for the example in Sec. 5

Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: Plots showing the percent increase in matching error and the average maximum required actuating moment for each mechanism in the suitable design region for the example in Sec. 5. Each symbol is a different topology permutation. (a) 1DOF solutions, (b) 2DOF solutions, and (c) 3DOF solutions.

Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: 3DOF solution mechanism from the topology permutation denoted by circles (o) in Fig. 8(c) for the example in Sec. 5, shown in its configuration closest to the first design profile

Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: Target profile set for the example in Sec. 6

Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: Plots showing the percent increase in matching error and the average maximum required actuating moment for each mechanism in the suitable design region for the example in Sec. 6. Each symbol is a different topology permutation. (a) 1DOF solutions, (b) 2DOF solutions, and (c) 3DOF solutions.

Date of download: 12/31/2017 Copyright © ASME. All rights reserved. From: Simultaneous Topological and Dimensional Synthesis of Planar Morphing Mechanisms J. Mechanisms Robotics. 2017;9(2):021009-021009-9. doi:10.1115/1.4035878 Figure Legend: 2DOF solution from the topology permutation denoted by squares (□) in Fig. 11(b) for the example in Sec. 6, shown in its configuration closest to the first design profile