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: Inventor files of this video: