A bicycle comprising: a bicycle frame ; and a rear suspension system coupling the bicycle frame to a rear wheel , the rear suspension system in combination with the frame comprising a six-bar linkage, the six-bar linkage including: a chain stay link comprising a first ternary link coupled at a front end portion by a first joint to a first binary link and by a second joint to a second binary link , and coupled at a rear end portion by a third joint to a seat stay link comprising a third binary link; a fourth binary link coupled by a fourth joint to the seat stay link ; wherein the first binary link is coupled to the bicycle frame by a fifth joint , the second binary link is coupled to the bicycle frame by a sixth joint , and the fourth binary link is coupled to the bicycle frame by a seventh joint , such that the bicycle frame is a second ternary link of the six-bar linkage; and a shock absorber coupling the fourth binary link to the bicycle frame; wherein the first binary link is disposed below the second binary link ; characterized in that the rear wheel is coupled to the rear suspension system at a rotational joint of the seat stay link . a bicycle frame ; and a rear suspension system coupling the bicycle frame to a rear wheel , the rear suspension system in combination with the frame comprising a six-bar linkage, the six-bar linkage including: a chain stay link comprising a first ternary link coupled at a front end portion by a first joint to a first binary link and by a second joint to a second binary link , and coupled at a rear end portion by a third joint to a seat stay link comprising a third binary link; a fourth binary link coupled by a fourth joint to the seat stay link ; wherein the first binary link is coupled to the bicycle frame by a fifth joint , the second binary link is coupled to the bicycle frame by a sixth joint , and the fourth binary link is coupled to the bicycle frame by a seventh joint , such that the bicycle frame is a second ternary link of the six-bar linkage; and a shock absorber coupling the fourth binary link to the bicycle frame; wherein the first binary link is disposed below the second binary link ; characterized in that the rear wheel is coupled to the rear suspension system at a rotational joint of the seat stay link . a chain stay link comprising a first ternary link coupled at a front end portion by a first joint to a first binary link and by a second joint to a second binary link , and coupled at a rear end portion by a third joint to a seat stay link comprising a third binary link; a fourth binary link coupled by a fourth joint to the seat stay link ; wherein the first binary link is coupled to the bicycle frame by a fifth joint , the second binary link is coupled to the bicycle frame by a sixth joint , and the fourth binary link is coupled to the bicycle frame by a seventh joint , such that the bicycle frame is a second ternary link of the six-bar linkage; and a shock absorber coupling the fourth binary link to the bicycle frame; wherein the first binary link is disposed below the second binary link ; characterized in that the rear wheel is coupled to the rear suspension system at a rotational joint of the seat stay link . <EOS>