Spherical Deployment

Spherical deployable linkage assembly

This assembly of spherical rhombus linkages expands to enclose a volume.  It was designed by Jerome Choe to explore the construction of complex articulated systems. (UCI Robotics and Automation Lab)

Chris Sangwin

C. J. Sangwin’s linkage movies

Chris Sangwin has a nice collection of linkage movies at How round is your circle?.

Particularly nice are the straight line mechanisms such as Hart’s second straight-line mechanism.

His example of the Sarrus linkage is also found on YouTube:

Brock Engineering’s mechanism home page

Fred Klingener has generated a number of interesting mechanism animations.  My favorite is the Peaucellier straight line mechanism.  You will find a table of 16 or so animations at his site:


Brock Institute Logo

Brock Institute Logo

Bennett Linkage

Linkage animations on synthetica

This link connects to a web-page with a number of linkage animations. There are several planar four-bar linkages, several spherical four-bar linkages, and an example of a spatial four-bar linkage called a Bennett linkage that is shown below. This page also includes a number of spherical linkage animations generated by students some years ago. (UCI Robotics and Automation Lab)


This animation was generated by HaiJun Su using POV-Ray. It is a Bennett linkage designed to guide the coupler linkage through three specified task positions: