The FIPA expansion grippers are used to grip with use of opening or cavity in the part. The range of diameters of expansion grippers is from 3 to 85 mm. Grippers with diameters from 3 to 10 mm can be used for direct contact with food. The operation of the expansion gripper is based on a pneumatic actuator which, by squeezing the elastic bellows, causes it to expand. Such a gripper structure is optimal from the point of view of safety - the air pressure does not act directly on the bellows, which eliminates the risk of its breaking.