The article presents a fundamentally new design of an anthropomorphic gripping device for an industrial robot for service objects, the shape and position of which are unknown a priori. The novelty of the proposed design from the known devices lies in the fact that each phalanx of the fingers of the gripping device is made in the form of four corrugated pneumatic chambers mounted on spherical hinges. This design allows you to capture objects in the angular coordinate system, which is typical of

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... he human hand. Analytical dependences for calculating the geometric and force parameters of an elastic gripping device are given. The results of mathematical modeling and recommendations for the development of such anthropomorphic captures for robots are given.