Kinematical analysis of the multi-linkage mechanism of a grapple

The article is devoted to the solution of the kinematic analysis of a multi-linkage lever mechanism of a grapple, the working edges of which are moved along a straight line. The advantage of the scheme of the mechanism under consideration before the traditional one is the straight-line motion of the output link in a relatively extended distance. In work, for the given values of the free kinematic parameters of the grapple, the main kinematic characteristics are calculated namely position, velocity and acceleration. It is established that the deviation of the function of the displacement of the operating point (the jaw edge) of the grapple under consideration from the required straight-line trajectory does not exceed 3%.