In the industry, grippers are used to facilitate object manipulation, increase productivity, and improve production quality. Grippers enable manual or automated handling of objects, which is crucial in assembly, packaging, moving, and other industrial processes. Mechanical grippers are predominantly used in the industry, but recently, due to the demand for greater flexibility and reduced weight, soft grippers have begun to be developed. In the thesis, we reviewed the state of the art in this field and created a basic model of a soft gripper, which we designed using numerical calculations. We then produced a rubber tool for making our soft gripper, which we manufactured through vulcanization. Experimental tests showed that soft grippers made from softer rubber have smaller radius under load but produce less force, while soft grippers with reinforcement or made from harder rubber have larger radius and generate more force.
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