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Fixture/gripper kinematics

Experimenter
Experimenter
Hi

I have to make kinematics for fixtures and few grippers. I have little problem with that. On fixtures and grippers I have groups of few clamps. I know how to do that when only one clamp is in group. My aim is to make that similar to that screen so with that Equipment prototype.
Can anyone describe me step by step how to do that?
I would be truly grateful for any help.