Six-bar linkage

[1] An example is the Klann linkage used to drive the legs of a walking machine.

If we consider a hexagon constructed from six binary links with six of the seven joints forming its vertices, then the seventh joint can be added to connect two sides of the hexagon to form a six-bar linkage with two ternary links connected by one joint.

[2] A six-bar linkage can also be constructed by first assembling five binary links into a pentagon, which uses five of the seven joints, and then completing the linkage by adding a binary link that connects two sides of the pentagon.

Watt's parallel motion generator consists of the four-bar linkage that has a coupler curve that traces an approximately straight line trajectory, combined with a parallelogram linkage that copies this straight line movement to a desired location.

This means the two ternary links are not connected to each other by a joint as in the case of the Watt topology.