Introduction

The aim of this project is to make a simple, working model that functions as a dough
kneading mechanism. The materials used to build this mechanism are common,
everyday items like hard board wood, nails, stiff wires and the like. The mechanism
was simulated on software like SolidWorks and Linkage to know it’s kinematic and
dynamic characteristics before building. Results from simulation are included in this
document.
1. Function
The function of the mechanism is to knead or mix the dough ( ) well enough so
that the moisture content and ingredients are even through out the dough. The
kneading action is performed by a ‘spoon’ on the edge of the elongated coupler link
in the mechanism. The dimensions and the shape of the coupler are specifically
chosen to closely replicate the motion required to knead the dough. This motion, as
is traditionally done while cooking Genfo in the kitchen, has two major elements.
One is the near-circular motion of the spoon to mix the dough well. The other is
scraping the dough from the wall of the bowl. The latter is especially important since
dough in general (especially Genfo) is very sticky. So it easily sticks to the walls of the
pot. This makes it difficult to mix the dough and cook it. So, the ‘spoon’ on the
coupler is designed to move along a path that closely follows the curve of a bowl.
Also, the end of the spoon is thin and flat to facilitate scraping.

Fig. 1) Diagram of dough-

Kneading mechanism

Working Principle
The mechanism is a simple four-bar linkage, with the support frame being the
‘ground’ link. Link 2, or the crank, rotates at some constant rate. This is where the
handle or actuator like motor is connected. The crank is connected to the rocker
(Link 4) via the coupler or link 3. While the crank makes full revolutions about its pin,
the rocker only swings back and forth through an angle Δθ4. From analysis on
program Linkage, Δθ4 is approximately 60°. The coupler goes through a complex
motion that is part translation and part rotation. The dimensions of the other links
and the specific locations of the fixed pivots allow the end of the coupler to trace a
path that closely matches the shape of the bowl, as shown in the below figure.

Fig. 2) Kinematic diagram of the linkage with trace on

the spoon
But because the linkage is 2-dimensional, the motion of the ‘spoon’ takes place on a
single plane only. This will not mix the dough properly since the dough is almost
never 2-D! So, we need to find a way to rotate the linkage relative to the dough so
the spoon reaches every part of the dough. Rotating the whole linkage around while
holding the bowl fixed is a hassle better avoided. The better option is to rotate the
bowl itself around its own axis. This rotation can be transmitted from the rotation of
the crank itself by a set of belts, pulleys and gears. Or it can be done separately by
another handle attached to the bowl.

2. Synthesis and design process

We started by researching online for standard dough kneading machines. Most
commercially available dough kneading machines work by the principle of planetary
gear boxes. As these are hard to make and require specifically manufactured parts
with close tolerance, we decided they are not the best choice for a DIY, ‘back yard’
project. So, we chose to build a simple four-bar linkage that can generate the motion
required for kneading. Then, from looking at linkage mechanisms for dough kneading
available online, modeling on Solidworks and tracing the path of the spoon on
Linkage, we were able to come up with the dimensions of the links required to
generate the kneading motion at the spoon. Further iterations and readjustments
were done to scale up the linkage to an appropriate size for a kitchen utensil, and to
fix problems like contact with the frame and the bowl…etc.

3. Pictures/diagrams

Fig 3) wood model of dough-

kneading mechanism
4. Testing and observation
The mechanism was built in work shop from thin hard board wood and a thick piece
of wood acting as support base. The pins were made using small nails for the moving
pivots and from stiff wire for the fixed (ground) pivots. Some further reinforcement
was done using scotch-tape.
Testing
Upon testing, we observed that the crank was able to make full revolutions and the
coupler moved similarly to what was designed. However, we noticed some
drawbacks as well:
 The nails that were acting as pins kept bumping with the frame and hindering
the motion.
 When the mechanism reaches its toggle position, the coupler shifts downwards
and the mechanism turns to an inverse of itself. In this case, we had to manually
‘reset’ the coupler to its intended position.
To fix the first problem, we cut the nails short and attached small pieces of hard-
board wood to the other side to restrain the pins from falling out.