HAIN LINKWORK TILTING CRAWLER MECHANISM

Flexible link 1 runs over pulleys 2 and 7, of equal diameter, and oscillates about fixed axis A. Link 6, designed as a bent lever, is connected by turning pairs D and C to pulleys 2 and 7 and by turning pair E to link 5. Link 3, designed as a bent lever, turns about fixed axis B and is connected by turning pairs F and G to link 5 and to link 4 which, in turn, is connected by turning pair H to flexible link 1. When flexible link 1 turns about axis A, links 4, 5 and 6 have complex motions and link 3 oscillates about axis B.
$2000$FL,TC$