Sixbar Linkages
Sixbar linkages are linkages that include six links and seven joints. There are two main types of sixbar linkages being Watt's sixbar linkage and Stephenson's sixbar linkage.
Watt's Sixbar
Watt's linkage is a type of linkage that combines two fourbars. In this type of linkage the links have parallel motion. The coupler curve that is produced from this gives a straight line. This linkage also only has one degree of freedom. This type of linkage is the simpler sixbar linkage to solve since you can solve it by splitting it into two fourbar problems.
Stephenson's Sixbar
Stephenson's linkage is a type of linkage that combines a four bar loop and a five bar loop. This happens because there is two ternary links in the linkage that are combined with a binary link. In this type of linkage there are three unknown angles. This is the more difficult sixbar to solve but it is still possible to be solved using two vector loop equations.
The vector loop equation is:
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