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ses workholding fixtures are devices that hold objects to manipulate them. They can grip and release objects while performing certain actions. Motion devices often mimic human movements; in the case of grippers, they mimic finger movements. The "fingers" themselves do not belong to the gripper; they are merely specialized custom tools for holding objects, called "jaws." Two main gripping actions: External gripping: This is the most common method for holding objects. It is the simplest and requires the shortest stroke length. When the gripper jaws close, the clamping force applied by the gripper