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Grasping in unstructured environments is one of the most challenging issues currently facing robotics. The inherent uncertainty about the properties of the target object and its surroundings compels the use of robot hands, which typically involve complex hands, require elaborate sensor suites, and are difficult to control. For this purpose, in this paper combining the kinematic structure of a three and two links finger for design and fabrication of robotic gripper will be evaluated. First, thefatcat:6fesoznmwbbolldxj4tx5cxxta