... are perpendicular to each other with an offsetdistance. Both mechanisms are capable of converting the rotational motion of link 2into the reciprocating and oscillatory motions of link 4. These ... Journal of Mecha-nisms, Transmissions, and Automation in Design, 109, 3, 329–336.[12] Tsai, L.W., 1988, The Kinematics of Spatial Robotic Bevel-Gear Trains, IEEEJournal of Robotics and Automation, ... Freudenstein, F. and Maki, E.R., 1979, Creation of Mechanisms According to Kinematic Structure and Function, Journal of Environmental and Planning B,6, 375–391.[7] Freudenstein, F. and Yang, A.T.,...