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As for the oscillating linkage, we always knew we wanted a linkage system that could oscillate back and forth but we were not entirely sure how to achieve that. Our first idea was a double linear slider linkage system but we decided against that because the production and analysis of the system would be overly complicated and we felt there was likely a simpler solution. Eventually we came across a diagram of a windshield wiper mechanism that we realized was very close to what we were looking for. So inspired by this mechanism we figured our a simple 4 bar linkage that we could manipulate to achieve our desired oscillating motion that had a link that the Klann linkage could be mounted to.
Combinig Combining the two systems through 1 actuator was a pretty big obstacle to overcome. Though we quickly decided on a bevel gear, we struggled to find a bevel gear set that was both the right size and had the proper tolerances to allow for the pivoting that Klann linkage would do. We were also weary of attempting to produce our own bevel gears as they would likely have a lot of inconsistencies and resistance.
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