The kinematic challenge of this project was deriving a set of 3D vector loop equations to describe the motion of the slider along the helical guide. As shown in the diagram below, the motion of the slider is defined by two counteracting movements: the clockwise procession of the slider along the helix and the counterclockwise rotation of the helix. The counterclockwise rotation of the helix is because the slider is trying to leave the y-z plane as it processes along the helix; however, it is kept in plane by link R4. This means that for the slider to move along the helix, the helix itself has to rotate.
Figure 1. Diagram of Mechanism Figure 2. MATLAB Animation of Mechanism
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