Input: pink crank.
R: pitch diameter of fixed gear of internal teeth.
r: pitch diameter of planetary gear (in yellow).
k = R/r = 6
Yellow crank is fixed to the yellow gear.
Yellow crank radius Rc = 0.215r.
Center of red slider traces green line, which is approximately an equilateral hexagon (a hypotrochoid).
Blue slider performs reciprocating motion with dwells at its end positions.
The dwell results from the portions of the green line that are perpendicular to the blue slider moving direction.
The dwell
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