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some aditional notes can be found here: https://en.wikipedia.org/wiki/Four-bar_linkage
| Linkage Type | Image | Notes | Jaw Parallelism |
|---|---|---|---|
| Geared Parollelogram linkage |
| This is what we have (instead of gears it is leadscrew) note the outward extension of the tips vary during the stroke | Jaws Stay Parallel |
| Central Piston |
| This could be a lead screw or other Nice because it is symmetrical Also nice because it is gearless This could be mixed with the parallelogram | Positive angular separation at open |
| Linear Slide |
| No outward extension during stroke May increase the cost due to the need of linear slides | Jaws Stay Parallel |
More possible actuator types
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