in a lamina-emergent frustum. The mechanism is based on transforming a polygon spiral
into spatial frustum shape using a mechanism composed of compliant links and joints that
exhibits a bistable behavior. A number of mechanism types (graphs) were considered to
implement the shape-morphing spiral, including 4-bar, 6-bar, and 8-bar chains. Our design
requirements permitted the selection of a particular 8-bar chain as the basis for the BCCM …