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) = 1.732aThe materials to be mixed are in the blue container with 3D complex motion.

See a real machine:https://www.youtube.com/watch?v=wDnzgJTs5Ikhttps://www.youtube.com/watch?v=iXAlw7MjAfI