Although the firm still served the textile industry, Murray began to consider how the design of steam engines could be improved. He wanted to make them simpler, lighter, and more compact. He also wanted the steam engine to be a self-contained unit that could readily be assembled on site with pre-determined accuracy. Many existing engines suffered from faulty assembly, which took much effort to correct. One problem that Murray faced was that James Pickard had already patented the crank and flywheel method of converting linear motion to circular motion. Murray ingeniously got round this difficulty by introducing a Tusi couple hypocycloidal straight line mechanism. This consisted of a large fixed ring with internal teeth. Around the inside of this ring a smaller gear wheel, with half the outer one's diameter, would roll driven by the piston rod of the steam engine, which was attached to the gear's rim. As the piston rod moved backwards and forwards in a straight line, its linear motion would be converted into circular motion by the gear wheel. The gear wheel's bearing was attached to a crank on the flywheel shaft. When he used the hypocycloidal straignt line mechanism he was able to build engines that were more compact and lightweight than previous ones. However, Murray ceased to use this type of motion as soon as Pickard's patent expired.