Kinematic analysis of multilink lever clamshell mechanism

Paper is devoted to the solution of a task of kinematic analysis of the multilink lever clamshell mechanism which working edges of jaws move in a straight line. Advantage of the studied scheme of the mechanism before traditional is the rectilinear movement of output link on rather big site. In work for preset values of free kinematic parameters of the grab the main kinematic characteristics are calculated: situation, speed and acceleration. Taking into account the extent of a straight section the parameters providing a possibility of achievement of high precision of the rectilinear movement are calculated.