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