HAIN LINKWORK CRAWLER MECHANISM

Pulleys 2 and 6 are of equal diameter, as are pulleys 4 and 5. Link 1 is connected by turning pairs A and B to pulleys 2 and 6. Flexible link 8 runs over pulleys 2 and 6 and is rigidly secured at points G and F to the base. Link 3, designed as a bent lever, is connected by turning pairs A, D and E to pulleys 2, 5 and 4. Flexible link 7 runs over pulleys 4 and 5 and is connected by turning pair C to flexible link 8. When link 1 has straight translational motion, pulleys 2 and 6 roll along flexible link 8 and pulleys 4 and 5 rotate about axes E and D, imparting complex motion to link 3.
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