Grash of 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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