Link 1 rotates about fixed axis x-x and is connected by a screw pair to link 2 which slides along fixed guide p. Link 2 is connected by turning pair A to link 7 which, in turn, is connected by sliding pair B to link 3. Link 3 turns about fixed axis y-y and is connected by turning pair C to the fixed link and by sliding pair D to link 4. Link 4 is connected by turning pair E to link 5 which slides in fixed guide q. The axes of turning pairs A, C and E are parallel to one another. The axes of sliding pairs B and D, of guides p and q and axis x-x are parallel to a common plane and perpendicular to axis y-y. When link 1 is rotated about axis x-x, link 6, rigidly attached to link 5, slides in guide q.
$2240$LS,ML$