Click to enlarge
Crank 1 rotates about fixed axis A and is connected by turning pair B to connecting rod 2 which, in turn, is connected by turning pair C to lever 3. Lever 3 turns about fixed axis D. Lever 4 turns about fixed axis E and has clevis a along which roller b of link 5 slides. Link 5 slides in fixed guide p. The cam surface of lever 3 is along a circular arc of radius r. The cam surface of lever 4 is a curve complying with the condition that the levers roll without slipping along each other, i.e. the curve is the centrode of the relative motion of levers 3 and 4. Reciprocating motion is transmitted to link 5 by the rolling motion, without slipping, of levers 3 and 4 along each other.