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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 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. 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. **Recliner picture**

Vid. 1 Chair Motion from Lever

Vid. 2 Rocker Base

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.

Image Modified

Fig. 1 Project Proposal