Parallelogram linkage

Example of the parallelogram and contra-parallelogram linkages.

Watt's linkage

This is an example of Watt's straight-line linkage. The point between the moving pivots traces an approximate straight-line.

Peaucellier linkage

This illustrates the movement of the Peaucellier linkage which transforms the circle traced by B into straight-line traced by F.

Kempe's Reversor

This linkage is Kempe's reversor, which generates equal and angular movement of two links.

Kempe Rectilinear Linkage

This linkage was introduced by Kempe in his book How to draw a straight-line. It guides a link on a purely rectilinear movement.