A bicycle (100, 200) comprising: a bicycle frame (102, 202); and a rear suspension system coupling the bicycle frame (102, 202) to a rear wheel (104, 204), the rear suspension system in combination with the frame comprising a six-bar linkage, the six-bar linkage including: a chain stay link (110, 210) comprising a first ternary link coupled at a front end portion by a first joint (120, 220) to a first binary link (108, 208) and by a second joint (122, 222) to a second binary link (116, 216), and coupled at a rear end portion by a third joint (124, 224) to a seat stay link (112, 212) comprising a third binary link; a fourth binary link (114, 214) coupled by a fourth joint (132, 232) to the seat stay link (112, 212); wherein the first binary link (108, 208) is coupled to the bicycle frame (102, 202) by a fifth joint (130, 230), the second binary link (116, 216) is coupled to the bicycle frame (102, 202) by a sixth joint (128, 228), and the fourth binary link (114, 214) is coupled to the bicycle frame (102, 202) by a seventh joint (126, 226), such that the bicycle frame (102, 202) is a second ternary link of the six-bar linkage; and a shock absorber (118, 218) coupling the fourth binary link (114, 214) to the bicycle frame; wherein the first binary link (108, 208) is disposed below the second binary link (116, 216); characterized in that the rear wheel (104, 204) is coupled to the rear suspension system at a rotational joint (134, 234) of the seat stay link (112, 212). a bicycle frame (102, 202); and a rear suspension system coupling the bicycle frame (102, 202) to a rear wheel (104, 204), the rear suspension system in combination with the frame comprising a six-bar linkage, the six-bar linkage including: a chain stay link (110, 210) comprising a first ternary link coupled at a front end portion by a first joint (120, 220) to a first binary link (108, 208) and by a second joint (122, 222) to a second binary link (116, 216), and coupled at a rear end portion by a third joint (124, 224) to a seat stay link (112, 212) comprising a third binary link; a fourth binary link (114, 214) coupled by a fourth joint (132, 232) to the seat stay link (112, 212); wherein the first binary link (108, 208) is coupled to the bicycle frame (102, 202) by a fifth joint (130, 230), the second binary link (116, 216) is coupled to the bicycle frame (102, 202) by a sixth joint (128, 228), and the fourth binary link (114, 214) is coupled to the bicycle frame (102, 202) by a seventh joint (126, 226), such that the bicycle frame (102, 202) is a second ternary link of the six-bar linkage; and a shock absorber (118, 218) coupling the fourth binary link (114, 214) to the bicycle frame; wherein the first binary link (108, 208) is disposed below the second binary link (116, 216); characterized in that the rear wheel (104, 204) is coupled to the rear suspension system at a rotational joint (134, 234) of the seat stay link (112, 212). a chain stay link (110, 210) comprising a first ternary link coupled at a front end portion by a first joint (120, 220) to a first binary link (108, 208) and by a second joint (122, 222) to a second binary link (116, 216), and coupled at a rear end portion by a third joint (124, 224) to a seat stay link (112, 212) comprising a third binary link; a fourth binary link (114, 214) coupled by a fourth joint (132, 232) to the seat stay link (112, 212); wherein the first binary link (108, 208) is coupled to the bicycle frame (102, 202) by a fifth joint (130, 230), the second binary link (116, 216) is coupled to the bicycle frame (102, 202) by a sixth joint (128, 228), and the fourth binary link (114, 214) is coupled to the bicycle frame (102, 202) by a seventh joint (126, 226), such that the bicycle frame (102, 202) is a second ternary link of the six-bar linkage; and a shock absorber (118, 218) coupling the fourth binary link (114, 214) to the bicycle frame; wherein the first binary link (108, 208) is disposed below the second binary link (116, 216); characterized in that the rear wheel (104, 204) is coupled to the rear suspension system at a rotational joint (134, 234) of the seat stay link (112, 212).