Mechanism Breakdown:
The Mercedes Mono-wiper can be separated into 3 linked 4-bar mechanisms. In order from actuator to end-effector, they are:
- Crank and Rocker
- Double Rocker
- Crank and Slider
The crank and rocker mechanism was driven by our actuator, and the double rocker was driven by the output of the crank and rocker. The crank and slider is driven in two rotations: The output of the double rocker is directly coupled to the frame of the local ground of the crank and slider, and the input of the crank is driven by a planet and ring gear. The use of the planet and ring gear is what allows the complex planar motion with only one degree of freedom.