Link 1, rotating about fixed axis A, is connected by a two-motion kinematic pair to link 2. This pair consists of spherical surfaces a and b of link 1 which contact internal cylindrical surfaces d of link 2. Link 3 is connected by turning pair E to link 2 and by a two-motion kinematic pair to link 4. This pair consists of spherical surfaces e and g of link 3 which contact spherical socket k and flat surface h of link 4. Link 4 rotates about fixed axis B. The mechanism transmits rotation between any two arbitrarily located axes A and B.
$589$LW,5L$