rov gripper 3D 프린트 모델

the gripper motion is based on the linear motion of the pneumatic piston rod (bore 25 mm and stroke 50mm). it depends on the parallel link mechanism to convert linear
motion of the cylinder to gripping action. the jaws of the gripper are designed to hold both circular and flat sections. the jaws are carefully designed to enable the pilot to hold the mission tools with ease. all files can be 3-d printed but i would recommend cutting the parts 2-d using cnc for lower cost except the parts named connecting link jr and piston fix jr, those must be 3-d printed.the jaws opening is 124 mm for the give type piston cylinder its code is cd85n25-50-b.
this link below shows the assembling of the parts of the gripper.