Link 4 turns about fixed axis D. Link 1 is connected by a turning and sliding pair to link 4, by a turning pair to link 5 and by a screw pair to link 6. Link 2 is connected by turning pairs A and B to links 6 and 3. Link 3 turns about fixed axis E and is connected by turning pair C to link 5. When link 1 is rotated, link 6 is traversed along axis z-z and transmits motion through link 2 to link 3 which is rigidly attached to rudder a. Rod 1 of the screw rotates freely in bearing 5 and rotates and slides in bearing 4.
$2283$LS,FD$