Note 52 — PAPER 27
Reading edition
For a summary of developments and references, see Kempe, op. cit. (footnote 21), pp. 49-51. Two of Hart's six-link exact straight-line linkages referred to by Kempe are illustrated in Henry M. Cundy and A. P. Rollett, Mathematical Models, Oxford, Oxford University Press, 1952, pp. 204-205. Peaucellier's linkage was of eight links.