由于所夾持零件形狀大小各異，機器人的手抓模塊也有較大差異，常見軸類與盤類零件一般采用氣動夾爪，而對有特俗需求的零件例如精度要求高且外形復雜的零件則可采用伺服手抓。
Since the holding parts shapes and sizes, the robot grasping module is also quite different, a common shaft and disc-type parts are generally hold by pneumatic jaws, and part with special needs such as high precision and complex shape parts is can be hold by servo clutch.