A modification of Peaucellier linkage proposed in 1877 by A. B. Kempe, London.
Length of green bars: a
Length of yellow bars: 0.5a
Length of orange bars: 0.25a
Distances between the pivots on:
- Pink plate: 0.75a + 0.25a
- Blue plate: a
- Popcorn plate: a
The pink plate moves along an absolutely straight line.