What are the industrial rules for determining which gripper to use?

Question

What will be an ideal response?

Answer 1

? The tooling must be capable of holding, centering, and/or manipulating
the range of parts the robot will work with.
? There needs to be some way of sensing when a gripper has closed on the
part or if it is empty. This can be internal to the gripper or provided
externally depending on the system. Newer grippers can determine the
amount of force exerted on the part as well, which is very beneficial for
delicate materials (see image 4-7)
? The weight of the gripper should be kept as light as possible as this weight
is deducted from the robots total payload.
? Proper safety features built into the gripper for the environment it will
work in and the parts it will work with. (For instance, the ability to hold
parts even when power is lost, or fingers made from non-sparking
materials for flammable environments.)