The mechanism contains an inverted slider crank kinematic chain connected in parallel with a four bar linkage. The kinematic chain RTR´s joints are connected with the crank and coupler of the four bar linkage. By means of changing the geometrical lengths of the mechanism´s links, the coupler point M describes a range of coupler curves.
The movie was generated for the geometrical dimensions: l1 = 15 mm, l´1 = -30 mm, l2 =80 mm, l2´ = 50 mm, l3 = 120 mm, x = 150 mm, l4 = 180 mm.