Flexible link 1 turns about fixed axis A and runs over pulleys 2 and 5 which rotate about axes B and D. Flexible link 7 turns about fixed axis C and runs over pulleys 4 and 6 which rotate about axes D and B. Link 3 is connected by turning pairs B and D to pulleys 2, 6, 5 and 4. When flexible link 1 turns about axis A, pulleys 4 and 6 rotate about axes D and B, imparting a complex motion to link 3.
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