Clamping device based on lever-two-step orthogonal toggle force-amplifying mechanism driven by pneumatic muscle

Based on the rod reconfigurable design idea, four kinds of clamping device based on lever-two-step orthogonal toggle force-amplifying Mechanism driven by pneumatic muscle has been innovated, the working principle of the clamping device are introduced, its calculating formulae of output power are also given. The clamping device introduced in this paper can satisfy different structure size and position requirements, the clamping device adapted to the development of the greening trend, has broad application.