Pantographic mechanisms can be introduced in the cellular periodic microstructure of architected metamaterials to achieve functional effects of local inertia amplification. The paper presents a one-dimensional pantographic metamaterial, characterized by an inertially amplified tetra-atomic cell. An internally constrained two-degrees-of-freedom model is formulated to describe the undamped free propagation of harmonic waves in the weakly nonlinear regime. A general asymptotic approach is employed to analytically determine the linear and nonlinear dispersion properties. Analytical, although asymptotically approximate, functions are obtained for the nonlinear wavefrequencies and waveforms, which show significant nonlinear effects including softening/hardening bending of the backbone curves and synclastic/anticlastic curvatures of the invariant manifolds.