Delineation of a Four-bar linkage from Kinematics of Machinery, 1876 Representation of a four-bar linkage from The Kinematics of Machinery, 1876 The characterization of basic machines to give a methodology to the plan of new machines wa by Franz Reuleaux, who gathered and considered north of 800 rudimentary machines. [46] He that the traditional basic machines can be isolated into the switch, pulley and haggle that are a body turning about a pivot, and the slanted plane, wedge and screw that are also a square s level surface.[47]