u/Funny-Ask4126

HI! I am a student designer using OnShape and am trying to recreate the gripper in the first slide for a project. I have made past iterations and am struggling to design something that will work. The 2nd slide is what I have designed most recently. Can someone give me some tips as to how to create a similar design? For some context I am trying to create a kind of 3 finger gripper that is an exoskeleton so you can put your fingers through it.