peaucellier straight line mechanism
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he Peaucellier--Lipkin linkage (or Peaucellier--Lipkin cell, or Peaucellier--Lipkin Inversor), invented in 1864, was the first planar linkage capable of transforming rotary motion into perfect straight-line motion, and vice versa. It is named after Charles-Nicolas Peaucellier (1832--1913)