Green output frame is connected to the base (in glass) via a Cardano joint. Output motion is controlled by linearly moving pink slider.
The green output frame can rotate around vertical axis thanks to yellow conrod and around horizontal axis thanks to orange conrod.
Relation between rotation angles of blue and green frames depends on ratio Rb/Rg.
Rb: center distance of two vertical revolute joints of the blue frame.
Rg: center distance of revolute and spherical joints of the green frame.
The mechanism can be applied for ice boat of four skis. The ski (in brown) is fixed to green frame. The skis are tilted when the boat turns.
This mechanism was made on request of Jason Brown, a student from Concordia University in Montreal, Canada.