Six-bar linkage

A six-bar linkage is a one degree-of-freedom mechanism that is constructed from six links and seven joints. An example is the Klann linkage used to drive the legs of a walking machine. A six-bar linkage is a one degree-of-freedom mechanism that is constructed from six links and seven joints. An example is the Klann linkage used to drive the legs of a walking machine. In general, each joint of a linkage connects two links, and a binary link supports two joints. 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. This type of six-bar linkage is said to have the Watt topology.