Is there a mechanism to transmit rotational motion with only links and rotating pairs?

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Franco Concli

An option can be using 2 crankshaft and connecting rods.

Franco

Igor Ravve

I think that hydraulic clutch may be an option. This sort of transmission uses viscous fluid coupling. You can read about it in Wiki, with some references therein

Neider Romero

The problem with the Geneva Mechanism is that angular velocity is not constant.