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FOUR-BAR SPATIAL MECHANISM

Link 1, rotating about fixed axis A, is connected by a two-motion kinematic pair to link 2 which has the form of a round roller with rim flanges. Link 2 turns and slides along guides b of link 1. Link 3, rotating about fixed axis B, is connected by spherical pair D to link 2. The mechanism transmits rotation between any two arbitrarily located axes A and B.
$576$LW,4L$