Peaucellier Straight Line Linkage

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The Peaucellier linkage, a product of the Industrial Revolution's research on transforming rotary motion into linear motion, stands out due to its exact straight-line output. Applications included steam engine piston guidance and precision part manufacturing. While Watt's and Sarrus linkages were earlier attempts, Peaucellier's mechanism achieves perfection by geometrically inverting a circular curve. Impressed, Lord Kelvin famously declared it "the most beautiful thing I have ever seen." A detailed history and explanation can be found at http://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage. To assemble the linkage, print the base platform, base upright, five medium arms, two long arms, four long pins, and three short pins; follow the images' instructions while using pins. Remember, for correct functioning, the distance between the centers of the uprights must equal the hole centers' distance in the input rotary arm.