[JohnA]

Hi Jeremy,

I tried to make a Schunk centric gripper tool with 3 moving jaws.  I only see the option to make a mechanism for 2 jaws in the same plane.  Is there a way to make such a 3 jaw gripper that opens and closes ?  I attached the model files.

Thanks 
John

[Jeremy]

Hi John,

There is no feature to create such a mechanism directly in RDK.
But it's possible to be a bit creative and make it work.
Look at this drive link, you should find an Excel sheet.
https://drive.google.com/drive/folders/1...CCTdy-p7GW

Look at how to create a linear rail video, then look at the "Pillar" video. (Module 6)
What I would do is create 3 linear mechanisms, offset them by 120 deg, and sync them using the same python script as the middle section of the pillar.

Jeremy