3D hand operated tumbler mixer
Input: pink shaft.
This is an application of the Schatz linkage which consists of 5 movable links.
Center distance of revolute joints of two green grippers and the yellow cage are equal (= a).
Center distance between pink and blue shafts = a*sqrt(3) =
The materials to be mixed are in the blue container with 3D complex motion.
See a real machine:
Schatz linkage:
STEP files of this video:
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