Figure 5. Multiple mechanisms with several degrees of freedom a) cam mechanism with lever, b) a mechanism packing machine, c) a lever mechanism typewriter

From

Kinematical Analysis of Crank Slider Mechanism with Graphical Method and by Computer Simulation

Hroncová Darina, Frankovský Peter, Bettes Gabriel

American Journal of Mechanical Engineering. 2016, 4(7), 329-343 doi:10.12691/ajme-4-7-18