**5.1.2 Two fingers gripper selection**

The objects may vary in size and shape. Thus the gripper should be able to handle objects of different shapes and sizes in a particular range. Gripper should be compact so that it does not interfere with other equipment. The use of conical fingers "three fingers or more" will help holding the parts securely. But if we have an object larger than these conical fingers, the object could not be gripped properly. Parallel moving fingers are a good solution in this case. This parallel movement also helps in gripping objects internally. Since the force is acting at a point or line in conical form of gripping it may lead to wear and tear of both the object and the finger. But in the parallel finger arrangement, the force will be distributed over an area. The two-fingers grasp may be considered the simplest efficient grasping configuration.
