Grashof linkages: 3R-1P inversions

Reciprocating Engine &

(R,P) Reciprocating Compressor:
Link with one full revolute and
one prismatic pair is grounded

Whitworth Quick Return &

Rotary Engine :
(R,R) Link with two full revolute pairs
is grounded
(Crank in original setting)
Crank and Slotted Lever QR ,
Oscillating Cylinder Engine &
Foot Pump :
(R,r)
Link with one full revolute and
one half revolute pair is grounded
(Coupler in original setting)

Hand Pump:
Link with one half revolute and
(r,P)
one prismatic pair is grounded
(Slider in original setting)

Grashof linkages: 3R-1P inversions

Reciprocating Engine &
(R,P) Reciprocating Compressor:
Link with one full revolute and
one prismatic pair is grounded

Whitworth Quick Return &

Rotary Engine :
(R,R) Link with two full revolute pairs
is grounded
(Crank in original setting)
Crank and Slotted Lever QR ,
Oscillating Cylinder Engine &
Foot Pump :
(R,r)
Link with one full revolute and
one half revolute pair is grounded
(Coupler in original setting)

Hand Pump:
Link with one half revolute and
(r,P)
one prismatic pair is grounded
(Slider in original setting)

Grashof linkages: 2R-2P inversions

Link 1
(R,P)

(P,P)

Elliptic Trammel:
Link with
two prismatic pairs
is grounded

(R,R)

Oldham Coupling:
Link with
Two revolute pairs
is grounded

Scotch Yoke:
Link with
one revolute and
one prismatic pair
is grounded