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How to make a mechanism with 2 colinear axis?

I have a mechanism, a gripper with 2 pneumatic cylinders:
1 is used to open/close 1 of the gripper's jaws (axis #1)
1 is used to adjust the size (opening) of the gripper (axis #2), to pick up small or longer parts.

Both cylinders are colinear, independant and opposed.
See attached picture, showing the 2 blue air slides.

I can make a single linear axis mechanism- no problem, for the jaw.
However a 2 linear axis seems not possible, as the only option is a 'T' bot with 2 perpendicular linear axis.
How do I make a 2 linear axis mechanism with the 2 axis parallel?


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