As an available household mechanism, the leather recliner yields a large number of linkages. When the leg rest is in the closed position as a regular chair, a 4 bar linkage is free to move as a Grashof triple rocker. Additionally, a single link extends the leg rest, inclines the seat back, and changes the angle of the chair relative to the floor while locking the rocker base in place.
**Recliner picture**
The initial starting point was a rough diagram depicting where the links were connected to ground and which joints connected the rest. The project proposal below shows the different sections of interest.
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