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They are based on different physical effects used to guarantee a stable grasping between a gripper and the object to be grasped.<ref>{{cite journal | last1 = Fantoni | first1 = G. | last2 = Santochi | first2 = M. | last3 = Dini | first3 = G. | last4 = Tracht | first4 = K. | last5 = Scholz-Reiter | first5 = B. | last6 = Fleischer | first6 = J. | last7 = Lien | first7 = T.K. | last8 = Seliger | first8 = G. | last9 = Reinhart | first9 = G. | last10 = Franke | first10 = J. | last11 = Hansen | first11 = H.N. | last12 = Verl | first12 = A. | year = 2014 | title = Grasping devices and methods in automated production processes | url = | journal = CIRP Annals - Manufacturing Technology | volume = 63 | issue = 2| pages = 679–701 | doi = 10.1016/j.cirp.2014.05.006 }}</ref>
Industrial grippers can be mechanical, the most diffused in industry, but also based on suction or on the magnetic force. Vacuum cups and electromagnets dominate the automotive field and in particular metal sheet handling. [[Bernoulli grip|Bernoulli grippers]] exploit the airflow between the gripper and the part that causes a lifting force which brings the gripper and part close each other (i.e. the [[Bernoulli's principle]]). Bernoulli grippers are a type of contactless grippers, namely the object remains confined in the force field generated by the gripper without coming into direct contact with it. Bernoulli grippers have been adopted in photovoltaic cell handling, [[silicon wafer]] handling, and also in the textile and leather industries.
Other principles are less used at the macro scale (part size >5mm), but in the last ten years they demonstrated interesting applications in micro-handling. Some of them are ready of spreading out their original field. The other adopted principles are: Electrostatic grippers and van der Waals grippers based on electrostatic charges (i.e. [[van der Waals' force]]), capillary grippers and cryogenic grippers, based on liquid medium, and ultrasonic grippers and laser grippers, two contactless grasping principles.
Electrostatic grippers are based on charge difference between the gripper and the part (i.e. [[electrostatic force]]) often activated by the gripper itself, while van der Waals grippers are based on the low force (still electrostatic) due to the atomic attraction between the molecules of the gripper and those of the object.
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