Figure 3

Thickness shift. Three links where (a) thicknesses are non-zero, (b) a1 = a2 = a3 = 0 (spherical mechanism), (c) a2 = 0, (d) a2 = 0 and the panel thickness is above and (e) a2 = 0 and the panel thickness is below.

Thickness shift. Three links where (a) thicknesses are non-zero, (b) a1 = a2 = a3 = 0 (spherical mechanism), (c) a2 = 0, (d) a2 = 0 and the panel thickness is above and (e) a2 = 0 and the panel thickness is below.