Sarrus linkage

The Sarrus linkage, invented in 1853 by Pierre Frédéric Sarrus,[1] is a mechanical linkage to convert a limited circular motion to a linear motion or vice versa[2] without reference guideways.

It is a spatial six-bar linkage (6R) with two groups of three parallel adjacent joint-axes.

[5] In the examples shown, the linkage uses two horizontal plates (cyan) positioned parallel to each other, one above the other.

One of its main advantages is that it can be used to lift the structure connecting the upper links, allowing an impressive range of movements.

[5] According to mobility analysis, the Degree of Freedom two-sided Sarrus linkage is 0.

Animation of the Sarrus Linkage.
Plates (can be any shape)
Bars (can be at any angle with each other except a multiple of 180°)
A demonstration using planar links instead of bar links.