Rectilinear Six-bar

Rectilinear Six-Bar (Candy Coating Linkage)

Jeff Glabe designed this six-bar linkage to move through six task positions while maintaining a parallel orientation.  This required the calculation of 55,000 linkages to find 26 that work.  This one has the additional feature that it is operated by a rotating crank (the red link).  The video is a collaboration of Jeff Glabe and Benjamin Liu.