A double rhomboid linkage which gives rectilinear motion from circular without an inversion.
Kempe Linkage
See also
Peaucellier InversorExplore with Wolfram|Alpha
References
Rademacher, H. and Toeplitz, O. The Enjoyment of Mathematics: Selections from Mathematics for the Amateur. Princeton, NJ: Princeton University Press, pp. 126-127, 1957.Referenced on Wolfram|Alpha
Kempe LinkageCite this as:
Weisstein, Eric W. "Kempe Linkage." From MathWorld--A Wolfram Web Resource. https://mathworld.wolfram.com/KempeLinkage.html