Abstract
This paper presents the design and results of mechanism research. A lever mechanism for a gripper was made using monolith technology with constrictions in which the deformations correspond to limited rotation of the links. Unidirectional movement of the drive link is reduced and simultaneously converted into movement of the jaw clamp. Temporary centres of rotation were used to obtain the symmetrical and perpendicular movement of the two ends of the clamp in relation to its axis of symmetry. Computer simulations and tests were performed on a prototype of the gripper mechanism, confirming the adopted predictions of the device’s operation.