  This paper is a summary of the recently accomplished research work on
flexible gripping systems. The goal is to develop a gripper which can be used
for a great amount of geometrically variant workpieces. The economic aspect is
of particular importance during the whole development. The high flexibility of
the gripper is obtained by three parallel used principles. These are human and
computer based analysis of the gripping object as well as mechanical adaptation
of the gripper to the object with the help of servo motors. The focus is on the
gripping of free-form surfaces with suction cup.
