The four-bar linkage (see for example Hartenberg et al. 1964 andToussaint 2003) was introduced during the Industrial Revolution and since then is a pervasively common mechanism occurring in wide area that spans from traditional engineering and robotics to even biomechanics, biochemistry, microbiology, and molecular dynamics.Generally, the four bars can be assembled in three dimensions, although the most common configurations concern planar displacements; this is the case upon which we focus in this paper (Figure 1). The ratios between the lengths of the bars determine different paths of the joints that permit to classify the performances of the linkage. One of the four bars is usually fixed, the ground link, and is directly connected to an input link and an output link. The remaining bar, the one not connected to the ground link, is called the floating link. To be specific, we consider a rotation angle θ defined by the direction of the input link with respect to the ground link, conventionally drawn as horizontal, as in Figure 1. The input link movements are classified according to four possible kinds of allowed rotations: the crank -the bar rotates by the full θ = 360° range; the rocker -the rotation is allowed within a limited range that does not include θ = 0° and 180°; the 0rocker -where different from the rocker, the rotation excludes θ = 180°; the π-rocker, where differently from the rocker and from the previous case, the rotation excludes θ = 0°. Four kinds of rotations can be immediately individuated according to the Grashof conditions by comparing the lengths of the four-bars: they are said to accomplish the Grashof condition given by equation (1), this takes place when the shortest (s) of the four bars can rotate fully with respect to the neighboring bars, if the sum of the longest (l) and the shortest bars is less than or equal to the sum of the remaining two (p and q) (Fig.