Link 1 is connected by turning pairs A and B to pulleys 6 and 2, of equal diameter. Flexible link 5 runs over the pulleys and is rigidly secured at points F and G to the base. Links 3 and 4 are connected together by turning pair E and to flexible link 5 by turning pairs D and C. When link 1 has straight translational motion, pulleys 2 and 6 roll along flexible link 5, imparting complex motions to links 3 and 4.
$1957$FL,Cr$