https://www.google.com/url?sa=i&rct=j&q=&esrc=s&source=images&cd=&ved=0ahUKEwigy5aVo8vMAhWDND4KHZHqA4EQjRwIBw&url=http%3A%2F%2Fwww.appliedrobotix.com%2Ftechnical%2Ftutorials.aspx&psig=AFQjCNG0bTT7gGSuPM_omIm7ndTijn492g&ust=1462822866874361
Robot Gripper Mechanism in SolidWorks 2012
https://www.youtube.com/watch?v=qKZLx1wtFCk