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The 'Classic', historically important, StraightLine Mechanisms, that you can construct with Revolute Joints only. These were important before you could buy SlideRails from Linear Bearing Suppliers! The mechanisms include: Watt, Robert, Tchebycheff, Hoeken, Peaucellier 1 and 2, Kempe 1 and 2, Hart 1 and 2, with a 'translating table'. There are others...