Input: pink crank rotating regularly.
A pin of cyan slider moving along grey cam slot.
Yellow bar has translating motion following the cam profile (green curve) that can be of any shape.
Here it is an equilateral triangle of rounded upper vertex. Time for tracing bottom straight portion is nearly 1/3 of working period.
The mechanism can be used for plantigrade machines of 6 legs.
آی-ویدئو