An article (30) is controllably and precisely positioned at one of three discrete locations defined by a linkage. The positioning apparatus includes two independently driven cranks (34, 42), with a link (50) pivotably connected between the two cranks (34, 42). Another connector (44) is pivotably connected between one of the cranks (34 or 42) and the article (30) to be positioned. The cranks (34, 42) are rotationally adjusted so that the pivot points (52, 54) of the link (50) are collinear with the axes of rotation of the cranks (40, 48), thereby defining one of the three discrete locations. Additional cranks and links can be provided to define additional discrete locations
