Objects of different sizes and shapes are gripped in a monostable manner by an apparatus which has a single pneumatic power source and has interchangeable jaw assemblies attached to an operating mechanism that provides a linear motion to engage the object. The gripping jaws are selected from a set of...http://www.google.de/patents/US4448405?utm_source=gb-gplus-sharePatent US4448405 - Versatile gripping device
