Geogebra is an amazing tool for tinkering around with different mechanisms to see how they work. Here’s a video for how you can set one up, shared by Darren McGuigan, or Darren_ Mc_Guigan_14164205 on YouTube:
I tried it out and it works. Here’s a link to my recreation Geogebra file
https://www.geogebra.org/geometry/ye7awjsc
that you can play around with yourself if you want. It got me thinking about how this mechanism might work well for creating a robot that hangs from an I-beam and moves itself smoothly along, perhaps with a lot more of these mechanical “arms”.
Next up, a strandbeest! This was created by Stefan Himmelbauer: