Link 1, rotating about fixed axis A, is connected by a two-motion kinematic pair to link 2. This pair consists of spherical socket c and flat surface d which contact spherical surfaces a and b of link 2. Link 2 is connected by turning pair E to link 3. Link 4, rotating about fixed axis B, is connected by a two-motion kinematic pair to link 3. This pair consists of spherical socket f and flat surface k which contact spherical surfaces q and h of link 3.
The mechanism transmits rotation between any two arbitrarily located axes A and B.
$582$LW,5L$