Link 1 is connected by turning pairs A and B to pulleys 2 and 5, of equal diameter. Flexible link 8 runs over pulleys 2 and 5 and is rigidly secured at points E and F to the base. Flexible link 8 is connected by turning pair C to flexible link 7 which runs over pulleys 4 and 6. Link 3 is connected by turning pairs D and B to pulleys 4 and 6. When link 1 has straight translational motion, pulleys 2 and 5 roll along flexible link 8 and pulleys 4 and 6 rotate about axes D and B, imparting complex motion to link 3.
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