![cover image](https://wikiwandv2-19431.kxcdn.com/_next/image?url=https://upload.wikimedia.org/wikipedia/commons/thumb/a/af/Harts_Inversor_1.gif/640px-Harts_Inversor_1.gif&w=640&q=50)
Hart's inversors
Planar straight-line mechanisms / From Wikipedia, the free encyclopedia
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Hart's inversors are two planar mechanisms that provide a perfect straight line motion using only rotary joints.[1] They were invented and published by Harry Hart in 1874–5.[1][2]
![Thumb image](http://upload.wikimedia.org/wikipedia/commons/thumb/a/af/Harts_Inversor_1.gif/640px-Harts_Inversor_1.gif)
Link dimensions:
Crank and fixed: a
Rocker: b (anchored at midpoint)
Coupler: c (joint at midpoint)