The invention relates to a gripper device. According to one aspect, the gripper device includes fingers with grasping ends. The gripper device includes a mechanism to cause the grasping ends to open and close. When the mechanism is engaged, the grasping ends open and close to define a circumference....http://www.google.de/patents/US6652015?utm_source=gb-gplus-sharePatent US6652015 - Gripper device
