Robert’s four-bar linkage 3

It is developed from the mechanism shown at:    • Robert’s four-bar linkage 1  
Dimensions:
Distance between the stationary points = 2a
Length of yellow bar = b, such that b is larger than 2a/3
Side lengths of blue triangle CDE: a, b, b
Side lengths of green triangle FAD: b, b^2/a, b^2/a
Side lengths of red triangle CGH: 2a, 2b, 2b
Length of orange bar = b^2/a
The blue, green, and red triangles are similar.
If point C moves from A to B and vice versa, then the red T-link moves rectilinearly in a straight (approximately).
The inventor of this linkage is Arglin Kampling:
   • Roberts "Table" Linkage, produced usi...  
Thanks to the inventor for providing me the linkage dimensions.

Inventor files of this video:
https://www.mediafire.com/file/oy111j...