The configurations of grippers include parallel and angular styles, and those with two or three jaws. Parallel jaws move in a motion parallel in relation to the gripper body, while angular jaws open and close around a central pivot point, moving in an arcing motion.

Parallel Grippers: These grippers have jaws that move in a straight, parallel motion, either towards or away from each other . This ensures consistent contact and a stable grip, making them suitable for handling fragile components or parts with consistent size and shape, requiring precision . Parallel grippers are widely used due to their ease of design and programming .

Angular Grippers: Angular grippers feature jaws that move in a radial, arc-like motion around a central pivot point This allows the jaws to open wide, making them suitable for gripping irregularly shaped objects or reaching into tight spaces . Although offering flexibility, the grip may be less stable for delicate operations due to the curved movement .