Input: one of pink cranks rotating continuously.
Lengths of pink cranks : a
Length of blue bars: 6a
Distances between vertical stationary bearings: 1.5a
Green line is locus of a point on yellow bar.
There are two parallelogram mechanisms here.
The mechanism has 1 prizmatic joint besides revolution ones.
The yellow bar has linear translating motion in a portion of its way. Time for tracing straight portion is more than 1/2 of working period.
It can be used for plantigrade machines of 2 or 4 legs.