1. Date of download: 5/28/2016 Copyright © ASME. All rights reserved. From: Curvature Theory of Envelope Curve in Two-Dimensional Motion and Envelope Surface in Three- Dimensional Motion J. Mechanisms Robotics. 2015;7(3):031019-031019-9. doi:10.1115/1.4029185 A line adjoint to the centrodes in planar motion Figure Legend:

2. Date of download: 5/28/2016 Copyright © ASME. All rights reserved. From: Curvature Theory of Envelope Curve in Two-Dimensional Motion and Envelope Surface in Three- Dimensional Motion J. Mechanisms Robotics. 2015;7(3):031019-031019-9. doi:10.1115/1.4029185 Inflection circle and cuspidal circle for planar motion Figure Legend:

3. Date of download: 5/28/2016 Copyright © ASME. All rights reserved. From: Curvature Theory of Envelope Curve in Two-Dimensional Motion and Envelope Surface in Three- Dimensional Motion J. Mechanisms Robotics. 2015;7(3):031019-031019-9. doi:10.1115/1.4029185 A plane adjoint to the axodes in spatial motion Figure Legend:

4. Date of download: 5/28/2016 Copyright © ASME. All rights reserved. From: Curvature Theory of Envelope Curve in Two-Dimensional Motion and Envelope Surface in Three- Dimensional Motion J. Mechanisms Robotics. 2015;7(3):031019-031019-9. doi:10.1115/1.4029185 Position relationship of the generatrix of the envelope surface and ISA Figure Legend:

5. Date of download: 5/28/2016 Copyright © ASME. All rights reserved. From: Curvature Theory of Envelope Curve in Two-Dimensional Motion and Envelope Surface in Three- Dimensional Motion J. Mechanisms Robotics. 2015;7(3):031019-031019-9. doi:10.1115/1.4029185 Three infinitesimal positions of the plane with β = 0 Figure Legend:

6. Date of download: 5/28/2016 Copyright © ASME. All rights reserved. From: Curvature Theory of Envelope Curve in Two-Dimensional Motion and Envelope Surface in Three- Dimensional Motion J. Mechanisms Robotics. 2015;7(3):031019-031019-9. doi:10.1115/1.4029185 A line L of the coupler link of a crank–rocker linkage Figure Legend:

7. Date of download: 5/28/2016 Copyright © ASME. All rights reserved. From: Curvature Theory of Envelope Curve in Two-Dimensional Motion and Envelope Surface in Three- Dimensional Motion J. Mechanisms Robotics. 2015;7(3):031019-031019-9. doi:10.1115/1.4029185 Euler–Savary equation for a line of a crank–rocker linkage Figure Legend:

8. Date of download: 5/28/2016 Copyright © ASME. All rights reserved. From: Curvature Theory of Envelope Curve in Two-Dimensional Motion and Envelope Surface in Three- Dimensional Motion J. Mechanisms Robotics. 2015;7(3):031019-031019-9. doi:10.1115/1.4029185 Spatial RCCC linkage Figure Legend: