The gripper beaks can take the shape of the object they hold, like in this case an orange!

Printing it is pretty self explanatory, or watch the short:

[https://youtube.com/shorts/1ziQGQiweF8?feature=share](https://youtube.com/shorts/1ziQGQiweF8?feature=share) 

edit: Just to clarify this is not a remix of [https://www.printables.com/model/118880-flexy-pliers-print-in-place-toy](https://www.printables.com/model/118880-flexy-pliers-print-in-place-toy) even though I will admid it is very similar! But I started this project just trying to print something I saw from festo and very quickly realized I had to create little hinges or it would not work.

EDIT: added clamps with a texture for more friction

update 02/10/2023: added new housing and clamp for a gripper with only 2 beaks

-clamp2_for_2_clamps

-housing_for_2_clamps