For this linkage r2 = rp = r4, and r3 = r1/2. The triangle, BPC, is equilateral. By increasing the ratio of the height of the mechanism to its width, the accuracy of the motion may be improved.
This linkage is a Grashof rocker-rocker.
In this example:
r1 = 4 , r2 = 4 r3 = 2 , r4 = 4 , rp = 4
theta1 = 0 , beta = -75.52 deg
To see an animation of this linkage select the link below: