Pick and Place Gear Mechanism

Input: pink carrier of a planetary gear drive (white stationary gear of tooth number Zw and yellow satellite gear of tooth number Zy; Zw = 2Zy).
The yellow gear pin, green crank and violet bar create a 4-bar linkage.
Violet gripper fixed to the violet bar picks and places the components (not shown) at two opposite places.
Violet line is the trajectory of the gripper.

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