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In the late seventeenth century, before the development of the planer and the milling machine, it was extremely difficult to machine straight, flat surfaces. For this reason, good prismatic pairs without backlash were not easy to make. During that era, much thought was given to the problem of attaining a straight-line motion as a part of the coupler curve of a linkage having only revolute connection. Probably the best-known result of this search is the straight line mechanism development by Watt for guiding the piston of early steam engines. Although it does not generate an exact straight line, a good approximation is achieved over a considerable distance of travel. ==Nearly straight line linkages== *Watt's linkage (1784) *Hoekens linkage (Can trade off straightness and near constant velocity) *Chebyshev linkage *Roberts Mechanism 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「Straight line mechanism」の詳細全文を読む スポンサード リンク
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