For this linkage rp = (r3*r4)/(r2+r4).
This linkage is a non-Grashof outward/outward limited triple-rocker.
In this example:
r1 = 10.77 , r2 = 5 , r3 = 4 , r4 = 5 , rp = 2
theta1 = 0 , beta = 0
To see animations of this linkage select the links below: