Links 1 and 2 are connected by turning pairs A and B to the base, and their turning axes are perpendicular and intersect. Links 1 and 2 contact each other through point C and plane d. The turning axis of link 2 lies in plane d. Point C of contact of links 1 and 2 is located at a constant distance from the turning axis of link 1 . Angle ϕ₂ of rotation of link 2 is related to angle ϕ₁ of rotation of link 1 by the equation ϕ₂=arctan((rsin(ϕ₁))/a).
$522$SL,CL$