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segenwitz grippers are devices that hold objects for manipulation. They can clamp 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 are not part of the gripper; they are specialized custom tools for holding objects, called "jaws." Two main clamping actions: External clamping: 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