It has been acknowledged that the straight-line or linear path exhibits great potential for high-speed pick-and-place operations in many manufacturing sectors such as food, electronics and many other light industries. In order to achieve high productivity, it is desirable for transferring a workpiece to follow a specified geometric path that gives the minimum time motion. Pick-and-Place Robot, Robotic End-Effector, Scott Russell Straight-Line Mechanism, Straight-Line Motion. The accuracy of motion trajectory, clamping force and stress of the end-effector are analyzed. This project uses a modified Scott Russell straight-line mechanism for each jaw of the end-effector. The desired clamping force is 625 N per jaw when the gripper is at its maximum open position and a maximum lift mass is 70 Kg. The selected size and shape of the grasped object are cylinders ranging from 50 mm to 300 mm in diameter. a straight-line, over the range of pick-and-place motion. This paper presents the design and analysis of a robotic end-effector that is capable of grasping objects of varying sizes and the center point of the end-effector remains as close as possible to the same location, i.e. The straight-line or linear path motion also exhibits great potential for reducing manufacturing cycle time. It was invented and published by Harry Hart in 1874.This mechanism uses 6 links which is less than the number of links in the Peaucellier Mechanism.E-mail : robot applications, straight-line pick-and-place motions are used for transferring workpieces into and out of an assembly or machine and are most advantageous in such applications because of the accuracy of positioning the workpieces at the beginning and end of travel. Hart’s A-frame : This mechanism is another exact straight line generating mechanism. The point connecting the two red links is the tracing point which gives an exact straight line motion.Ģ. The links shown in the same colour are of equal lengths.