Washing Machine Agitator

problem:

Generate large angle oscillating motion given a rotary input.

requirements:

  • Ground pivots and links must remain inside housing.
  • Linkage must accept rotary input.
  • Linkage must exhibit good force characteristics.
  • Linkage must have good transmission angles.
  • Linkage must generate large rotary oscillations in output shaft.

solution:

  • Four bar function generator.
  • Driving dyad.
  • Full mechanism is a Watt II six-bar chain.

animation:



kinematic diagram: