Rhombus Straight-Line Linkage

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This model consists of seven bar connections, including one slider type, with the grounded link. Four bars form a rhombus shape, while three double revolute joints connect three bodies. Eliminating the slider link would result in two degrees of freedom for the mechanism; however, this linkage provides an exact straight-line motion at the lower pin joint. This type of mechanism belongs to the inversor class (refer to tutorials on straight-line mechanisms and Peaucillier-Lipkin linkage, S-35). Notably, mathematicians like Chebyshev and Sylvester extensively studied this class of straight-line mechanisms during the 19th century.