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If I had a single stepper motor how could I use it to create a robotic clamp that could simply grab hold of something like a plank of wood and release it?

Are there any standard parts that I could use for this? I'm having trouble finding out what the names of the parts would be.

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Look for "parallel jaw gripper kit." Ignoring the pneumatic designs, you will find a typical parallel jaw gripper has a set of 1:1 gears which ensure the two jaws travel at equal speeds in opposite directions, connected to parallelogram 4-bar linkages which keep the clamping jaws parallel to each other. You can find them with or without the actuator.

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