**Yes.** See this [paper](http://www.ams.org/journals/tran/1991-324-02/S0002-9947-1991-1069741-9/S0002-9947-1991-1069741-9.pdf) of Negami.  The main result is that for any fixed knot (or link) of type $k$, there is a constant $R(k)$ such that every straight line embedding of $K_{R(k)}$ in $\mathbb{R}^3$ contains a knot (or link) equivalent to $k$.