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Grashof linkages: 3R-1P inversions

Reciprocating Engine &

Reciprocating Compressor:

Link with one full revolute and

one prismatic pair is grounded

(R,P)

Crank and Slotted Lever QR ,

Oscillating Cylinder Engine &

Foot Pump :

Link with one full revolute and

one half revolute pair is grounded(Coupler in original setting)

(R,r)

Hand Pump:

Link with one half revolute and

one prismatic pair is grounded

(Slider in original setting)

(r,P)

Whitworth Quick Return &

Rotary Engine :

Link with two full revolute pairs

is grounded

(Crank in original setting)

(R,R)

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Grashof linkages: 3R-1P inversions

Reciprocating Engine &

Reciprocating Compressor:

Link with one full revolute and

one prismatic pair is grounded

(R,P)

Whitworth Quick Return &

Rotary Engine :

Link with two full revolute pairs

is grounded

(Crank in original setting)

(R,R)

Crank and Slotted Lever QR ,

Oscillating Cylinder Engine &

Foot Pump :

Link with one full revolute and

one half revolute pair is grounded(Coupler in original setting)

(R,r)

Hand Pump:

Link with one half revolute and

one prismatic pair is grounded

(Slider in original setting)

(r,P)

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Grashof linkages: 2R-2P inversions

1

3

Link 1

Elliptic Trammel:Link with

two prismatic pairs

is grounded

(P,P)

Scotch Yoke:

Link with

one revolute andone prismatic pair

is grounded

(R,P)

Oldham Coupling:

Link with

Two revolute pairs

is grounded

(R,R)