HAIN LINKWORK CRAWLER MECHANISM
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Pulleys 2 and 5 are of equal diameter, as are pulleys 4 and 6. Link 1, designed as a complex lever, is connected by turning pairs A, B, C and D to pulleys 2, 4, 6 and 5. Flexible link 8 runs over pulleys 2 and 5 and is rigidly secured at points E and F to the base. Flexible link 7 runs over pulleys 4 and 6 which rotate about axes B and C. Link 3 is connected by turning pairs G and H to flexible links 8 and 7. When link 1 has straight translational motion, pulleys 2 and 5 roll along flexible link 8 and pulleys 4 and 6 rotate about axes B and C, imparting complex motion to link 3.
$1969$FL,Cr$

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Documents: Lever mechanisms  [Streambook]
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