Link 1 turns about fixed axis A and is connected by turning pair B to pulley 5. Flexible link 7 runs over pulleys 2 and 5, of equal diameter. Pulley 2 is rigidly attached to the base. Link 3 is connected by turning pairs B and C to pulleys 6 and 4. Flexible link 8 runs over pulleys 4 and 6 and is connected by turning pair D to flexible link 7. When link 1 turns about axis A, pulleys 4 and 6 rotate about axes C and B, imparting a complex motion to link 3.
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