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 = 4Zy).
The yellow gear pin, green crank and violet bar create a 4-bar linkage.
Violet grippers fixed to the violet bar pick the components (not shown) at blue place and place them at red place perpendicular to the blue one.
Violet line is the trajectory of the grippers.
Here two symmetric grippers are used.

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