The initial plier design was similar to a traditional set of pliers in that the two final plier heads crossed each other and increasing the distance between the two handles resulted in "opening" of the unit. Open/close action was accomplished by joining two slider crank mechanisms. A DC motor shaft was connected to a bendable coupler with steel set screws. The coupler joined the motion of the motor shaft and a lead screw. A 3D printed bracket (acting as link "c" in a slider-crank mechanism) was connected to the lead screw by an accompanying nut. The bracket was joined to the two intermediate "b" links via 5mm steel shaft and bearings. The intermediate links were then joined to the plier heads (links "a") by the same shaft/ bearing setup. The plier heads joined and were fixed to a strip of 2 by 4" wood.
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