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  1. It is denoted as RRRP, PRRR, RPRR, or RRPR, constructed from four links connected by three revolute joints and one prismatic joint. The slider-crank linkage (RRRP) is one type of arrangement such that one link is a crank, which is then connected to a slider by a connecting rod.
    en.wikipedia.org/wiki/Four-bar_linkage
    en.wikipedia.org/wiki/Four-bar_linkage
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