I want a software which I can use to draw mechanisms like this picture:
Update: the author told me that : "the figure was made in Adobe Photoshop/Illustrator by tracing the hand-drawn kinematic diagrams."
This type of request is usually something authors will gladly address. Since this images comes from recent paper (2018), you should write to corresponding authors or journal editor, asking how this image was produced. In fact, providing such information is part of obligation when people publish work, your request will not be unusual at all.