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FOUR-BAR SPATIAL MECHANISM

Link 1, rotating about fixed axis A, is connected by a cylindrical turning and sliding pair to link 2. This pair consists of two spherical surfaces a and b of link 2 which contact internal cylindrical surface d of link 1. Link 2 is connected by spherical pair C to link 3 which rotates about fixed axis B. The mechanism transmits rotation between any two arbitrarily located axes A and B.
$575$LW,4L$