The mechanism contains a slider crank kinematic chain connected in parallel with a four bar linkage. The kinematic chain RRT´s joints are connected with the coupler and rocker 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 = 13 mm, l2 = 46 mm, l2´ = 40 mm, l3 = 50 mm, l4 = 20 mm, x = 37 mm, y = 24 mm.