Hart Straight Line Mechanism 1
Introduction
The Hart linkage (of type 1) is a planar linkage, consisting only of revolute joints, that is capable of transforming rotary motion into perfect straight-line motion, and vice versa.Unlike the Peaucellier-Lipkin linkage it uses only 5 links, inplace of 6.
The mathematics behind the Hart linkage of type 1 also comes from the theory of inversion of a circle. A basic introduction to the theory of Inversion of a circle and its relation to the Peaucellier linkage follows.