Peaucellier Linkage credits and sources: The Peaucellier–Lipkin linkage which draws an exact straight line was invented by Charles Nicolas Peaucellier (1832-1913) in 1864. This was the first planar straight line mechanism capable of transforming rotary motion into perfect straight-line motion, and vice versa. https://www.youtube.com/watch?v=AuayeQJu1rs https://www.youtube.com/watch?v=hSdW-i3nO1M