How do I calculate forces and moments for this gripper 2

[Nithin1313]

If I have a torque coming from the servo of 1.96 Nm, how do i calculate force of the gripper on the object as well as compressive, tensile, and bending stresses on the links? Thank you for anyone who can help me out, this is a project I'm doing as a Junior.

 

[Nithin1313]

View attachment Grip Calcs.jpgAfter doing some more research I think I figured out the statics to determine grip force what do y'all think of this? I also am using 2 Nm for this FBD instead of 1.96.

 

[rb1957]

sorry man, I can hardly read your work. yes, I'd use 2 (or 1) in doing the hand calcs, then scale the final answers.

but the beauty of these calcs is you can check your own work ... apply your calc'd forces, rebuild the FBD, check for equilibrium.