Link 1 has gear rack a-a which meshes with gear 2 rotating about fixed axis A. Rigidly attached to gear 2 is helical gear 4 which meshes with helical rack b-b of link 3. Rack a-a slides in guide c of link 5 which turns about axis A. When crank 6 rotates about fixed axis B, gear 4 is oscillated about axis A and link 3 reciprocates in guides d-d. Besides, link 3 can be rotated about axis y-y from an independent drive.
$1788$GL,FD$