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Spherical 4R mechanism 1b

Spherical: Joint center lines intersect at a common point. Angle between center lines of revolute joints:

for the orange input link is γ = 20 deg. for the green output link is β = 90 deg. for the blue link is α = 90 deg.

for the base link is δ = 15 deg. The output link revolves irregularly.

Its 1 rev. corresponds 1 rev. of the orange input link.

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